https://docs.ego-exo4d-data.org/assets/js/8f972c71.d70cd2c1.js

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1function m(e){let{components:t,...a}=e;return(0,o.kt)(d,(0,r.Z)({},p,a,{components:t,mdxType:"MDXLayout"}),(0,o.kt)("p",null,'MPS stands for "Machine Perception Services" and are a service provided by the\nAria device recordings.'),(0,o.kt)("h2",{id:"trajectory"},"Trajectory"),(0,o.kt)("p",null,"Please read the ",(0,o.kt)("a",{parentName:"p",href:"https://facebookresearch.github.io/projectaria_tools/docs/data_formats/mps/mps_trajectory"},"Official Aria Documentation")),(0,o.kt)("p",null,"Trajectory data provides the 3D camera positions of the camera wearer, sampled\nat 1kHZ across the capture & each take. "),(0,o.kt)("p",null,"Here is some basic information about the trajectories:"),(0,o.kt)("ul",null,(0,o.kt)("li",{parentName:"ul"},"You can determine if a capture has an associated trajectory by referring to the field ",(0,o.kt)("inlineCode",{parentName:"li"},"has_trajectory"),", or ",(0,o.kt)("inlineCode",{parentName:"li"},"has_trimmed_trajectory")," if there is a take-trimmed counter-part"),(0,o.kt)("li",{parentName:"ul"},"The files related to the trajectory is located in the ",(0,o.kt)("inlineCode",{parentName:"li"},"trajectory")," folder relative to the\ncapture (use the ",(0,o.kt)("inlineCode",{parentName:"li"},"closed_loop_trajectory.csv")," file) or the take; if there is a take-trimmed counter-part (",(0,o.kt)("inlineCode",{parentName:"li"},"has_trimmed_trajectory"),"): use ",(0,o.kt)("inlineCode",{parentName:"li"},"trimmed_trajectory_relative_path")," from the take. "),(0,o.kt)("li",{parentName:"ul"},"The intrinsic parameters are provided in the ",(0,o.kt)("inlineCode",{parentName:"li"},"trajectory")," directory for the exo-centric GoPro cameras\n(",(0,o.kt)("inlineCode",{parentName:"li"},"gopro_calibs.csv"),"); for the aria camera it is provided in the capture, or the take-trimmed, VRS file."),(0,o.kt)("li",{parentName:"ul"},(0,o.kt)("a",{parentName:"li",href:"https://facebookresearch.github.io/projectaria_tools/docs/data_utilities/core_code_snippets/mps#open-loopclosed-loop-trajectory"},"Here is a code sample")," on how to read the closed loop file.")),(0,o.kt)("h2",{id:"point-clouds"},"Point Clouds"),(0,o.kt)("p",null,"Point clouds are located in the ",(0,o.kt)("inlineCode",{parentName:"p"},"trajectory")," subdirectory for each capture. Please familiarize yourself with the official documentation from ",(0,o.kt)("a",{parentName:"p",href:"https://facebookresearch.github.io/projectaria_tools/docs/data_formats/mps/mps_pointcloud"},"Project Aria"),", as the files referenced in Aria's documentation are present in the ",(0,o.kt)("inlineCode",{parentName:"p"},"trajectory")," folder. "),(0,o.kt)("p",null,"Below is some basic information about point clouds:"),(0,o.kt)("ul",null,(0,o.kt)("li",{parentName:"ul"},"Every capture that has trajectory will have a point cloud. Use the\n",(0,o.kt)("inlineCode",{parentName:"li"},"has_trajectory")," field to classify which captures have trajectories & point\nclouds.",(0,o.kt)("ul",{parentName:"li"},(0,o.kt)("li",{parentName:"ul"},"The files associated to point clouds are: ",(0,o.kt)("a",{parentName:"li",href:"https://facebookresearch.github.io/projectaria_tools/docs/data_formats/mps/mps_pointcloud#point-observations"},(0,o.kt)("inlineCode",{parentName:"a"},"semidense_observations.csv.gz"))," and ",(0,o.kt)("a",{parentName:"li",href:"https://facebookresearch.github.io/projectaria_tools/docs/data_formats/mps/mps_pointcloud#points-in-the-world-coordinate-frame"},(0,o.kt)("inlineCode",{parentName:"a"},"semidense_points.csv.gz"))))),(0,o.kt)("li",{parentName:"ul"},"Point clouds are associated to multiple (arbitrary) timepoints within\nthe video, ",(0,o.kt)("a",{parentName:"li",href:"https://facebookresearch.github.io/projectaria_tools/docs/data_formats/mps/mps_pointcloud#what-are-semi-dense-points"},"please read Aria's\ndocumentation")),(0,o.kt)("li",{parentName:"ul"},"Point clouds are in the same 3D coordinate system as the trajectory data."),(0,o.kt)("li",{parentName:"ul"},(0,o.kt)("a",{parentName:"li",href:"https://facebookresearch.github.io/projectaria_tools/docs/data_utilities/core_code_snippets/mps#point-cloud"},"Here is a code sample")," on how to read the point cloud data from Project Aria")),(0,o.kt)("h2",{id:"eye-gaze"},"Eye Gaze"),(0,o.kt)("p",null,"Eye gaze data is located in each captures' or takes' ",(0,o.kt)("inlineCode",{parentName:"p"},"eye_gaze")," folder. Please\nfamiliarize yourself with the official documentation from ",(0,o.kt)("a",{parentName:"p",href:"https://facebookresearch.github.io/projectaria_tools/docs/data_formats/mps/mps_eye_gaze"}

1,"Project\nAria"),",\nas the files referenced in Aria's documentation will be present in the\n",(0,o.kt)("inlineCode",{parentName:"p"},"eye_gaze")," folder. "),(0,o.kt)("p",null,"Below is some basic information about eye gaze:"),(0,o.kt)("ul",null,(0,o.kt)("li",{parentName:"ul"},"You can determine if a take or capture has eye gaze by using the field ",(0,o.kt)("inlineCode",{parentName:"li"},"has_gaze")," for a capture and ",(0,o.kt)("inlineCode",{parentName:"li"},"has_trimmed_gaze")," for a take. ",(0,o.kt)("ul",{parentName:"li"},(0,o.kt)("li",{parentName:"ul"},"If eye gaze is available for the take, it is trimmed (cropped in time) with respect to that take."))),(0,o.kt)("li",{parentName:"ul"},(0,o.kt)("a",{parentName:"li",href:"https://facebookresearch.github.io/projectaria_tools/docs/data_utilities/core_code_snippets/mps#eye-gaze"},"Here is a code sample")," on how to read the eye gaze data from Project Aria")),(0,o.kt)("p",null,"To quickly start using MPS in code, see the ",(0,o.kt)("a",{parentName:"p",href:"https://github.com/facebookresearch/projectaria_tools/blob/main/core/examples/mps_quickstart_tutorial.ipynb"},"MPS Quickstart Notebook"),"."))}m.isMDXComponent=!0}}]);