Export Gen2 On-device Machine Perception data to CSV

This page covers the Gen2 Machine Perception (MP) CSV exporter tool, run_gen2_mp_csv_exporter, which extracts on-device machine perception data from Gen2 Aria VRS files and exports them to CSV files compatible with the MPS (Machine Perception Service) data format. This enables seamless integration and comparison between on-device results and cloud-processed MPS data.

Basic Usage

run_gen2_mp_csv_exporter --vrs-path path/to/your/gen2_file.vrs \
  --output-folder ./exported_mp_data/ \
  --vio-high-freq-subsample-rate 80

Command Line Options

Parameter	Type	Required	Description
--vrs-path	string	Yes	Path to the Gen2 VRS file containing on-device MP data
--output-folder	string	No	Folder to output MP CSV files. Default: current directory
--vio-high-freq-subsample-rate	int	No	Subsample rate for VIO high frequency data. Default: 1 (no subsampling)

Data Types Exported

After running the tool, your output folder will contain the following files, with csv / JSONL formats that are compatible with MPS data formats:

output_folder/
├── slam/
│   ├── open_loop_trajectory.csv      # VIO high-frequency poses
│   └── online_calibration.jsonl      # Online calibration updates
├── eye_gaze/
│   └── generalized_eye_gaze.csv      # Eye gaze data
└── hand_tracking/
    └── hand_tracking_results.csv     # Hand tracking results

Data Type	Source VRS Data Stream	Output File	Content	Notes
VIO High-Frequency Trajectory	vio_high_frequency	${OUTPUT_FOLDER}/slam/open_loop_trajectory.csv	High-frequency device trajectory poses from Visual-Inertial Odometry	Compatible with MPS open-loop trajectory format. Subsampling configurable via --vio-high-freq-subsample-rate parameter
Eye Gaze Data	eyegaze	${OUTPUT_FOLDER}/eye_gaze/generalized_eye_gaze.csv	Eye gaze directions and fixation points	Compatible with MPS eye gaze format
Hand Tracking Data	handtracking	${OUTPUT_FOLDER}/hand_tracking/hand_tracking_results.csv	Hand pose estimates, joint positions, and hand landmarks	Compatible with MPS hand tracking format
Online Calibration Data	vio	${OUTPUT_FOLDER}/slam/online_calibration.jsonl	Online SLAM camera and IMU calibration updates computed on-device	Compatible with MPS online calibration format

Important Notes

• Gen2 specific: This tool only works with Gen2 Aria VRS files that contain on-device MP data
• Stream availability: Not all Gen2 recordings may contain all MP data streams
• Data consistency: The tool preserves original timestamps and coordinate systems from the on-device processing
• Calibration updates: Online calibration data represents dynamic updates computed during recording, which may differ from factory calibration