VRS Stream ID to Label Mapping in Aria Data
In Aria VRS files, each data stream is uniquely identified by a VRS StreamId.
This page provides the mapping information between all the VRS StreamIds, and the corresponding readable sensor labels used in device calibration and projectaria_tools APIs.
Table 1: StreamID to label mapping for Aria Gen2
| Sensor | Stream ID | Recordable Type ID | label |
|---|---|---|---|
| ET camera left | 211-1 | EyeCameraRecordableClass | camera-et-left |
| ET camera right | 211-2 | EyeCameraRecordableClass | camera-et-right |
| RGB camera | 214-1 | RgbCameraRecordableClass | camera-rgb |
| All microphones | 231-1 | StereoAudioRecordableClass | mic |
| Temperature | 246-1 | TemperatureRecordableClass | temperature |
| Barometer | 247-1 | BarometerRecordableClass | baro0 |
| Photoplethysmography sensor | 248-1 | PpgRecordableClass | ppg |
| GPS (sensor) | 281-2 | GpsRecordableClass | gps |
| GPS (from Companion App) | 281-1 | GpsRecordableClass | gps-app |
| Wi-Fi | 282-1 | WifiBeaconRecordableClass | wps |
| Bluetooth | 283-1 | BluetoothBeaconRecordableClass | bluetooth |
| Ambient light sensor | 500-1 | AlsRecordableClass | als |
| SLAM camera front left | 1201-1 | SlamCameraData | slam-front-left |
| SLAM camera front right | 1201-2 | SlamCameraData | slam-front-right |
| SLAM camera side left | 1201-3 | SlamCameraData | slam-side-left |
| SLAM camera side right | 1201-4 | SlamCameraData | slam-side-right |
| IMU left | 1202-1 | SlamImuData | imu-left |
| IMU right | 1202-2 | SlamImuData | imu-right |
| Magnetometer | 1203-1 | SlamMagnetometerData | mag0 |
| Eye gaze (on-device MP) | 373-1 | EyeGazeRecordableClass | eyegaze |
| Hand tracking (on-device MP) | 371-* (dynamic) | PoseRecordableClass | handtracking |
| VIO (on-device MP) | 371-* (dynamic) | PoseRecordableClass | vio |
| VIO high frequency (on-device MP) | 371-* (dynamic) | PoseRecordableClass | vio_high_frequency |
Dynamic Stream IDs
The handtracking, vio, and vio_high_frequency streams have dynamic stream IDs that are determined at runtime by querying the VRS file.
Case 1: If handtracking stream exists
| VRS Stream ID | Sensor Label |
|---|---|
371-1 | handtracking |
371-2 | vio |
371-3 | vio_high_frequency |
Case 2: If handtracking stream does not exist
| VRS Stream ID | Sensor Label |
|---|---|
371-1 | vio |
371-2 | vio_high_frequency |
These streams are identified by their RecordableTypeId (PoseRecordableClass) and their specific flavor strings: device/oatmeal/hand, device/oatmeal/vio, and device/oatmeal/vio_high_frequency.