1.3.0

🎉 We are excited to announce the release of version 1.3.0 🎉

This release includes several major new features and improvements, including:

• New python visualization samples
• A VRS_to_MP4 tool to help quickly review (RGB + Sound) for data collection
• New C++ and Python tutorials on MPS point cloud colorization & how to use ADT depth map to generate point cloud
  …

Here is the complete changelog:

[Visualization]

• [Python] New rerun visualization samples to help debug and visualize Aria and MPS temporal data & states
  • viewer_aria_sensors
  • viewer_mps
  • viewer_projects_adt
  • viewer_projects_ase

[API]

• [Python] Introduce an projectaria_tools.mps.utils module to help query and filter loaded MPS data

import projectaria_tools.mps.utils

# Retrieve Pose/Eye Gaze data by timestamp 
get_nearest_eye_gaze, get_nearest_pose

# Reproject eyegaze vector in image
get_gaze_vector_reprojection

# Filter Point Cloud data
filter_points_from_confidence
filter_points_from_count

• [Python - C++] Image undistortion update distort_by_calibration
  • API update to perform bilinear or nearest neighbor multithread interpolation to better select the right interpolation for depth (bilinear) or segmentation mask (nearest) -> see (distort_by_calibration, distort_depth_by_calibration & distort_label_by_calibration)
• [Python - C++] Calibration rotation
  • Ease accessibility to upright pinhole calibration data for RGB/SLAM images rotate_camera_calib_cw90deg

[Tools]

• [Python] Tool to create an MP4 file from VRS RGB and audio data (code, documentation)
• [C++] PointCloud Colorization Sample
• [C++] Aria Viewer - Enable plot buffer for AriaViewer to Avoids slow down/ speed up when audio is enabled/disabled
• [C++/Python] Vrs health check
  add health check for VRS streams (audio, barometer, bluetooth, camera, gps, imu, wifi) -> Reads all records from all streams and check the health of each record in each stream
• [Python] Projects/Aria Digital Twin - Add notebook tutorial to create and merge point clouds from depth maps data

[Continuous integration - GitHub]

• Various cleanup in GitHub actions
• Improved CI code coverage by adding testing python notebooks

[BugFix]

• [Core] fix support of multiple gps streams (coming from Aria and cell phone)

[Known Issues]

• Machine Perception Services (MPS) outputs have been renamed, so that they more clearly communicate what is in the outputs:

SLAM/Trajectory
  - global_points.csv.gz -> semidense_points.csv.gz
Eye Gaze
  - generalized_eye_gaze.csv -> general_eye_gaze.csv
  - calibrated_eye_gaze.csv -> personalized_eye_gaze.csv

[Documentation]

• Aria Digital Twin, new landing and challenge page
• Aria Synthetic Environments, new landing and challenge page
• Data Formats - how Project Aria uses VRS
• Data Utilities - refactored our visualization guide to have aPython and a C++ page
• Refactored downloading MPS sample data into a single download page

[Thank you to our new contributors]
@baderouaich