Class CRawlog

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

  • public mrpt::serialization::CSerializable

Class Documentation

class CRawlog : public mrpt::serialization::CSerializable

The main class for loading and processing robotics datasets, or “rawlogs”.

Please, refer to the rawlog format specification.

In short, this class stores a sequence of objects, in one of two possible formats:

  • Format #1: A sequence of actions and observations. There is a sequence of objects, where each one can be of one type:

    • An action: Implemented as a CActionCollection object, the actuation of the robot (i.e. odometry increment).

    • Observations: Implemented as a CSensoryFrame, refering to a set of robot observations from the same pose.

  • Format #2: A sequence of actions and observations. There is a sequence of objects, where each one can be of one type:

See also RawLogViewer for a GUI application for quick inspection and analysis of rawlogs.

There is a field for dataset plain-text comments (human-friendly description, blocks of parameters, etc.) accessible through CRawlog::getCommentText() and CRawlog::setCommentText().

This container provides a STL container-like interface (see CRawlog::begin, CRawlog::iterator, …).

See also

CSensoryFrame, Dataset file format.

Note

There is a static helper method CRawlog::detectImagesDirectory() to identify the directory where external images are stored.

Public Types

enum TEntryType

The type of each entry in a rawlog.

See also

CRawlog::getType

Values:

enumerator etSensoryFrame

The entry is of type mrpt::obs::CSensoryFrame

enumerator etActionCollection

The entry is of type mrpt::obs::CActionCollection

enumerator etObservation

The entry is of type mrpt::obs::CObservation

enumerator etOther

The entry is none of the types above

Public Functions

CRawlog() = default
virtual ~CRawlog() override = default
void getCommentText(std::string &t) const

Returns the block of comment text for the rawlog

std::string getCommentText() const

Returns the block of comment text for the rawlog

void setCommentText(const std::string &t)

Changes the block of comment text for the rawlog

void getCommentTextAsConfigFile(mrpt::config::CConfigFileMemory &memCfg) const

Saves the block of comment text for the rawlog into the passed config file object.

void clear()

Clear the sequence of actions/observations. Smart pointers to objects previously in the rawlog will remain being valid.

bool empty() const

Returns true if the rawlog is empty

void insert(CAction &action)

Add an action to the sequence: a collection of just one element is created. The object is duplicated, so the original one can be freed if desired.

void insert(CActionCollection &action)

Add a set of actions to the sequence; the object is duplicated, so the original one can be freed if desired.

See also

insert, insert

void insert(CSensoryFrame &observations)

Add a set of observations to the sequence; the object is duplicated, so the original one can be free if desired.

void insert(const mrpt::serialization::CSerializable::Ptr &obj)

Generic add for a smart pointer to a CSerializable object:

bool loadFromRawLogFile(const std::string &fileName, bool non_obs_objects_are_legal = false)

Load the contents from a file containing one of these possibilities:

  • A “CRawlog” object.

  • Directly the sequence of objects (pairs CSensoryFrame/CActionCollection or CObservation* objects). In this case the method stops reading on EOF of an unrecogniced class name.

  • Only if non_obs_objects_are_legal is true, any CSerializable object is allowed in the log file. Otherwise, the read stops on classes different from the ones listed in the item above.

Returns:

It returns false upon error reading or accessing the file.

bool saveToRawLogFile(const std::string &fileName, const mrpt::io::CompressionOptions &co = {mrpt::io::CompressionType::Zstd}) const

Saves the contents to a rawlog-file, compatible with RawlogViewer (As the sequence of internal objects). The file is saved with gz-commpressed if MRPT has gz-streams.

Returns:

It returns false if any error is found while writing/creating the target file.

size_t size() const

Returns the number of actions / observations object in the sequence.

TEntryType getType(size_t index) const

Returns the type of a given element.

See also

isAction, isObservation

void remove(size_t index)

Delete the action or observation stored in the given index.

Throws:

std::exception – If index is out of bounds

void remove(size_t first_index, size_t last_index)

Delete the elements stored in the given range of indices (including both the first and last one).

Throws:

std::exception – If any index is out of bounds

CActionCollection::Ptr getAsAction(size_t index) const

Returns the i’th element in the sequence, as being actions, where index=0 is the first object. If it is not a CActionCollection, it throws an exception. Do neither modify nor delete the returned pointer.

See also

size, isAction, getAsObservations, getAsObservation

Throws:

std::exception – If index is out of bounds

CSensoryFrame::Ptr getAsObservations(size_t index) const

Returns the i’th element in the sequence, as being an action, where index=0 is the first object. If it is not an CSensoryFrame, it throws an exception.

See also

size, isAction, getAsAction, getAsObservation

Throws:

std::exception – If index is out of bounds

mrpt::serialization::CSerializable::Ptr getAsGeneric(size_t index) const

Returns the i’th element in the sequence, being its class whatever.

See also

size, isAction, getAsAction, getAsObservations

Throws:

std::exception – If index is out of bounds

CObservation::Ptr getAsObservation(size_t index) const

Returns the i’th element in the sequence, as being an observation, where index=0 is the first object. If it is not an CObservation

, it throws an exception. Do neither modify nor delete the returned pointer. This is the proper method to obtain the objects stored in a “only

observations”-rawlog file (named “format #2” above.

See also

size, isAction, getAsAction

Throws:

std::exception – If index is out of bounds

template<class T>
inline T::ConstPtr asObservation(size_t index) const

Get the i’th observation as an observation of the given type.

Throws:

std::exception – If index is out of bounds, or type not compatible.

template<class T>
inline T::Ptr asObservation(size_t index)
inline const_iterator begin() const
inline iterator begin()
inline const_iterator end() const
inline iterator end()
inline iterator erase(const iterator &it)
void findObservationsByClassInRange(mrpt::system::TTimeStamp time_start, mrpt::system::TTimeStamp time_end, const mrpt::rtti::TRuntimeClassId *class_type, TListTimeAndObservations &out_found, size_t guess_start_position = 0) const

Returns the sub-set of observations of a given class whose time-stamp t fulfills time_start <= t < time_end. This method requires the timestamps of the sensors to be in strict ascending order (which should be the normal situation). Otherwise, the output is undeterminate.

See also

findClosestObservationsByClass

void swap(CRawlog &obj)

Efficiently swap the contents of two existing objects.

bool getActionObservationPair(CActionCollection::Ptr &action, CSensoryFrame::Ptr &observations, size_t &rawlogEntry) const

Gets the next consecutive pair action / observation from the rawlog loaded into this object. Previous contents of action and observations are discarded, and upon return they contain smart pointers to the next objects read from the rawlog dataset. The input/output variable “rawlogEntry” is just a counter of the last rawlog entry read, for logging or monitoring purposes.

See also

readActionObservationPair

Returns:

false if there was some error, true otherwise.

Public Static Functions

static bool readActionObservationPair(mrpt::serialization::CArchive &inStream, CActionCollection::Ptr &action, CSensoryFrame::Ptr &observations, size_t &rawlogEntry)

Reads a consecutive pair action / observation from the rawlog opened at some input stream. Previous contents of action and observations are discarded, and upon exit they contain smart pointers to the new objects read from the rawlog file. The input/output variable “rawlogEntry” is just a counter of the last rawlog entry read, for logging or monitoring purposes.

See also

getActionObservationPair, getActionObservationPairOrObservation

Returns:

false if there was some error, true otherwise.

static bool getActionObservationPairOrObservation(mrpt::serialization::CArchive &inStream, CActionCollection::Ptr &action, CSensoryFrame::Ptr &observations, CObservation::Ptr &observation, size_t &rawlogEntry)

Reads a consecutive pair action/sensory_frame OR an observation, depending of the rawlog format, from the rawlog opened at some input stream. Previous contents of action and observations are discarded, and upon return they contain smart pointers to the new objects read from the rawlog file.

Depending on the rawlog file format, at return either:

  • action/observations contain objects, or

  • observation contains an object.

The input/output variable “rawlogEntry” is just a counter of the last rawlog entry read, for logging or monitoring purposes.

See also

getActionObservationPair

Returns:

false if there was some error, true otherwise.

static inline std::tuple<bool, size_t, CActionCollection::Ptr, CSensoryFrame::Ptr, CObservation::Ptr> ReadFromArchive(mrpt::serialization::CArchive &inStream, const size_t rawlogEntryIndex)

Alternative to getActionObservationPairOrObservation() returning the tuple [readOk, rawlogEntryIndex, action,sf, obs], with either (action,sf) or (obs) as empty smart pointers depending on the rawlog file format. readOk is false on EOF or any other error.

static std::string detectImagesDirectory(const std::string &rawlogFilename)

Tries to auto-detect the external-images directory of the given rawlog file. This searches for the existence of the directories:

  • ”<rawlog_file_path>/<rawlog_filename>_Images”

  • ”<rawlog_file_path>/<rawlog_filename>_images”

  • ”<rawlog_file_path>/<rawlog_filename>_IMAGES”

  • ”<rawlog_file_path>/Images” (This one is returned if none of the choices actually exists).

The results from this function should be written into mrpt::img::CImage::getImagesPathBase() to enable automatic loading of extenrnally-stored images in rawlogs.

class const_iterator

A normal iterator, plus the extra method “getType” to determine the type of each entry in the sequence.

Public Functions

inline const_iterator()
inline const_iterator(const TListObjects::const_iterator &it)
virtual ~const_iterator() = default
inline bool operator==(const const_iterator &o)
inline bool operator!=(const const_iterator &o)
inline const mrpt::serialization::CSerializable::Ptr operator*() const
inline const_iterator operator++(int)
inline const_iterator &operator++()
inline const_iterator operator--(int)
inline const_iterator &operator--()
inline TEntryType getType() const

Protected Attributes

TListObjects::const_iterator m_it
class iterator

A normal iterator, plus the extra method “getType” to determine the type of each entry in the sequence.

Public Functions

inline iterator()
inline iterator(const TListObjects::iterator &it)
virtual ~iterator() = default
iterator &operator=(const iterator &o) = default
inline bool operator==(const iterator &o)
inline bool operator!=(const iterator &o)
inline mrpt::serialization::CSerializable::Ptr operator*()
inline iterator operator++(int)
inline iterator &operator++()
inline iterator operator--(int)
inline iterator &operator--()
inline TEntryType getType() const

Public Static Functions

static inline iterator erase(TListObjects &lst, const iterator &it)

Protected Attributes

TListObjects::iterator m_it