MPS Output - Calibration

Online calibration is generated as part of SLAM (Location in the Desktop Companion app) MPS requests.

• online_calibration.jsonl file

The Aria Sensor Viewer displays the relative position and orientation of most Project Aria glasses sensors (cameras, IMUs, microphones, magnetometer & barometer) in a common reference.

Online calibration

online_calibration.jsonl contains one json online calibration record per line. Each record is a json dict object that contains timestamp metadata and the result of online calibration for the cameras and IMUs.

The calibration parameters contain intrinsics and extrinsics parameters for each sensor as well as a time offsets which best temporally align their data.

For how to load and read online calibrations in Python and C++, please check the code example