How to Download the DTC Dataset
Overview
This page covers how to download Digital Twin Catalog (DTC) sequences. Follow the instructions to download the sample datasets and from there you'll be able to use the CLI to download more data. For information on how to download DTC object models, see Object Models page
The sample dataset is an Aria sequence recording a single object with active trajectory. This is a pretty representative example that should give you an idea of the dataset.
By downloading the datasets you agree that you have read and accepted the terms of the Digital Twin Catalog Dataset License Agreement.
Download the sample Digital Twin Catalog (DTC) sequence
Step 0: install project_aria_tools package and create venv if not done before
Follow Step 0 to Step 4 in Getting Started.
Step 1 : Signup and get the download links file
To use the downloader CLI, you need to download a file which contains all data URLs plus some metadata for the downloader script. We currently offer two ways of getting this file:
Option 1 - Aria Dataset Explorer:
Go to the Aria Dataset Explorer website. Here you can subselect sequences according to some filter options, or get the links to all sequences.
Option 2 - Digital Twin Catalog on Project Aria Website:
Visit Digital Twin Catalog on Project Aria Website and sign up.
Scroll down to the bottom of the page. Enter your email and select Access the Datasets.
Once you've selected Access the Datasets you'll be taken back to the top of the DTC page.
Scroll down the page to select the Digital Twin Catalog Download Links and download the file to the folder $HOME/Downloads.
Step 2 : Set up a folder for DTC data
mkdir -p $HOME/Documents/projectaria_tools_dtc_data
Step 3 : Download the sample sequence(~1.3GB) via CLI:
From your Python virtual environment, run:
aria_dataset_downloader -c ${PATH_TO_YOUR_Aria_Sequence_CDN_FILE} \
-o $HOME/Documents/projectaria_tools_dtc_data/ \
-l BirdHouseRedRoofYellowWindows_active \
-d 0 1 2 3 6
For more information on the content in the other sequences, see the Data Content section below
Step 4 : Set up a folder for DTC DSLR data
mkdir -p $HOME/Documents/projectaria_tools_dtc_dslr
Step 5 : Download the DSLR sample sequence (~2.0GB) via CLI:
From your Python virtual environment, run:
aria_dataset_downloader -c ${PATH_TO_YOUR_DSLR_Sequence_CDN_FILE} \
-o $HOME/Documents/projectaria_tools_dtc_dslr/ \
-l Airplane_B097C7SHJH_WhiteBlue_Lighting001 \
-d 0 1
For more information on the content in the other sequences, see the Data Content section below
Download the Digital Twin Catalog (DTC) dataset
Data size
The Digital Twin dataset consists of 200 Aria sequences and 105 DSLR sequences. The Aria sequences will include MPS data, which can be downloaded individually. Go to Project Aria Machine Perception Services for more information about MPS data. The size of each data type is shown below.
| Sequence Type | Data Type | What’s included | Per sequence size | Total size for all sequences |
|---|---|---|---|---|
| Aria | Aria VRS | VRS sequence captured using Aria | ~ 1.3 GB | ~ 260 GB |
| MPS | Derived data using MPS service, including camera trajectories, semi-dense point cloud, online calibration, etc | ~ 35 MB | ~ 6.8 GB | |
| Object Pose | Object pose aligned with MPS data | < 1 KB | < 1 MB | |
| DSLR | EXR | High dynamic range DSLR captures | ~ 1.5 GB | ~ 158 GB |
| PNG | Converted low dynamic range captures | ~ 540 MB | ~ 55.4 GB | |
| Camera Poses | DSLR camera poses | < 1 MB | < 20 MB | |
| Object Pose | Object pose aligned with camera poses | < 1 KB | < 1 MB | |
| Environment Map | Environment map aligned with camera poses | ~ 3.0 MB | ~ 315 MB |
Download via CLI
DTC supports both using the general Aria dataset downloader, which is available in the projectaria_tools PyPI (pip install) package, to download sequences and using our open sourced Aria dataset downloader Python wrapper, which is available in the DTC code repo, to download sequences with captured models.
To use the Aria downloader, use the following commands in the virtual environment where you've installed projectaria_tools:
aria_dataset_downloader
To get a description of the arguments that the script needs, run:
aria_dataset_downloader --help
The following are some example use cases:
Download VRS for all sequences
aria_dataset_downloader --cdn_file ${PATH_TO_YOUR_DTC_SEQUENCE_CDN_FILE} --output_folder ${OUTPUT_FOLDER_PATH} --data_types 0
Download VRS + main ground truth data for all sequences
aria_dataset_downloader --cdn_file ${PATH_TO_YOUR_DTC_SEQUENCE_CDN_FILE} --output_folder ${OUTPUT_FOLDER_PATH} --data_types 0 6
Download all data for all sequences
aria_dataset_downloader --cdn_file ${PATH_TO_YOUR_DTC_SEQUENCE_CDN_FILE} --output_folder ${OUTPUT_FOLDER_PATH} --data_types 0 1 2 3 4 5 6 7 8 9
Download VRS for 2 specific sequences
aria_dataset_downloader --cdn_file ${PATH_TO_YOUR_DTC_SEQUENCE_CDN_FILE} --output_folder ${OUTPUT_FOLDER_PATH} --data_types 0 --sequence_names BirdHouseRedRoofYellowWindows_active BirdHouseRedRoofYellowWindows_passive
Download VRS for all sequences and overwrite
aria_dataset_downloader --cdn_file ${PATH_TO_YOUR_DTC_SEQUENCE_CDN_FILE} --output_folder ${OUTPUT_FOLDER_PATH} --data_types 0 --overwrite
Troubleshooting
Check Project Aria Tools troubleshooting if you are having issues using this guide.