1.2.0

[Features]

• [Core - Python]

  • Sophus python binding

    • Add SO3, SE3 interface in python based on Sophus library. Example code is provided in sophus_quickstart_tutorial notebook

  • Python type annotation

    • Python type hinting/ stubs are automatically generated as part of the pypi package when installing projectaria_tools with pip install. Users can also generate them on their own using the generate_stubs.py script.

  • Google Colab runnable notebooks

    • Python notebooks can now be run in Google Colab -> Dataprovider Quickstart Tutorial | Machine Perception Services Tutorial
    • No installation on local machine required to test and play with projectaria_tools

• [Core]

  • Add cameraId to ImageDataRecord

    • Allow the ImageDataRecord to list from which camera the data came from

  • Continuous integration

    • GitHub Actions runs Python Unit test

  • Dependencies

    • Update to use VRS v1.1.0
    • Remove cereal dependency and use directly rapidjson

• [MPS]

  • Calibrated and generalized EyeGaze

    • Support of calibrated eye gaze via in-session calibration
    • Support for multiple wearers in a single Aria capture. The eye gaze output will contain a session_uid field that will help distinguish between different wearers.

  • Python type format

    • print(X) will now display object content

• [Tools]

  • MPS Replay Viewer {C++}
    • Renders static scene and dynamic elements: 2D/3D observations rays + eye gaze data

[BugFix]

• [Core]
  • {bug fix} update crop and rescale to SensorCalibration
  • Update the API to make calibration data to match from the sensor and device access point: get_sensor_calibration(stream_id).camera_calibration() and provider.get_device_calibration().get_camera_calib(name) to match.

[Known Issues]

• [Core]
  • The Sophus API has been updated, if you encounter issues, please update to v1.2 of Project Aria Tools
  • Here is how to update your existing code following the API change for SO3/SE3:
    • .matrix() to .to_matrix()
    • .quaternion() -> .rotation().to_quat()[0] or to_quat_and_translation()[0]

[Documentation]

• [Core]
  • VRS to MP4 Tutorial showing how to export VRS RGB images to a MP4 video.
  • Additional information added to 3D Coordinate Frame Conventions
• [MPS]
  • Eye Gaze Data Formats updated to include calibrated_eye_gaze.csv and summary.json
  • Eye Gaze Calibration

[Thank you to our new contributors]
@brentyi
Seanwarren-meta
Selcuk Karakas
Przemyslaw Szczepanski
Guru Somasundaram

Full Changelog: 1.1.0...1.2.0

1.1.0

[BugFix]

• [Core]

  • AriaViewer (reset line plots when new timestamp is requested)

• [ADT]

  • Released ADT datasets v1.1:
    • The ADT library has been updated to support dataset versioning.
      • Data schema update
        • Fix quaternion order in ‘aria_trajectory.csv’
          Corrected to qw, qx, qy, qz from qx, qy, qz, qw
        • Fix gravity field names are now called gravity_x/y/z_world to align with MPS layout
        • Change SkeletonMetaData.json to skeleton_aria_association.json to better reflect the file content
        • Change gt-metadata.json to metadata.json
  • Users are STRONGLY ADVISED to pull from the release branch and follow ADT download instructions to update their ADT datasets to v1.1.

• [ASE]

  • Released a more accurate set of camera FishEye model calibration parameter

• [Documentation]

  • Minor updates

1.0.0

Initial release (https://ariatutorial2023.github.io/)

[Core]

• Provide C++/Python VRS data provider (sensor data and configuration) and utilities (camera poses and intrinsics manipulation)

[Tools]

• Aria VRS and MPS visualizers

[Projects]

• ADT - Aria Digital Twin
  • A real-world dataset, with hyper-accurate digital counterpart & comprehensive ground-truth annotation
• ASE - Aria Synthetic Environments
  • A procedurally generated synthetic Aria dataset for large-scale ML research.

[Documentation]

• Project Aria Documentation (Aria Research Kit, Open Dataset and Project Aria Tools)