vrs2ros

Convert Meta vrs format to ros.

Installation

Make sure to install the vrs package from source. Follow the instructions in the repo's README.

Additionally, you will need a ROS1 installation.

Usage

First download some vrs files. You may be interested in downloading the Aria Pilot Dataset, which was the main motivation for creating this repo.

With a vrs file downloaded, convert it to rosbag with the command:

rosrun vrs2ros vrs2rosbag vrs_file:=/path/to/vrs_to_read.vrs rosbag:=/path/to/rosbag_out.bag calib_json:=/path/to/output_calib.json

Note that currently, only the two SLAM tracking cameras, RGB camera, and IMU are added.