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XP Robotics Multi-Camera + IMU Wearable Recording
A multimodal multi-camera egocentric recording released by XP Robotics, captured on an XP Robotics head/chest/wrist wearable rig. It provides several synchronized first-person camera views together with high-rate inertial and thermal signals from a single continuous session.
Overview
- 1 continuous session, ~1.49 hours (5,372 s), ~5.14M messages
- 5 synchronized cameras (H.264), including a stereo head pair
- 4 IMUs (head, chest, both wrists) at high rate
- 1 thermal sensor
- Stored as MCAP with Foxglove/protobuf message schemas
Recording schema
| Topic | Schema | Description |
|---|---|---|
/head_left/video |
foxglove.CompressedVideo |
Head camera, left (stereo pair) |
/head_right/video |
foxglove.CompressedVideo |
Head camera, right (stereo pair) |
/chest/video |
foxglove.CompressedVideo |
Chest camera |
/wrist_ch0/video |
foxglove.CompressedVideo |
Wrist camera |
/wrist_ch3/video |
foxglove.CompressedVideo |
Wrist camera |
/head/imu |
xphi.Imu |
Head inertial measurement |
/chest/imu |
xphi.Imu |
Chest inertial measurement |
/wrist_ch0/imu |
xphi.Imu |
Wrist inertial measurement |
/wrist_ch3/imu |
xphi.Imu |
Wrist inertial measurement |
/board/thermal |
xphi.ThermalSample |
Thermal sensor samples |
Per-camera metadata records (camera/<view>) carry neutral technical fields: camera id, mount position, stereo flag, codec, resolution, and frame rate. A session record carries the spec version, session id, reference camera, and start time; a stop record carries the session end.
Technical details
- Video: H.264, 1920x1200, ~30 fps, per camera.
- Cameras: 5 views — a stereo head pair (
head_left,head_right), one chest, and two wrist cameras. - Motion: 4 IMUs (orientation, angular velocity, acceleration) at high rate (~200 Hz).
- Thermal: on-board thermal sensor samples (~1 Hz).
Files
xphi-multicam-imu-dataset/
metadata.csv
xphi_multicam_imu_001.mcap
The recording is named uniformly xphi_multicam_imu_<NNN>.mcap. metadata.csv lists the file with its camera set, IMU/thermal presence, duration, size, video format, and message count.
Reading the data
Video, IMU, and thermal streams use protobuf message encoding. Decode them with the mcap and mcap-protobuf-support packages:
from mcap.reader import make_reader
from mcap_protobuf.decoder import DecoderFactory
with open("xphi_multicam_imu_001.mcap", "rb") as f:
reader = make_reader(f, decoder_factories=[DecoderFactory()])
for schema, channel, message, proto in reader.iter_decoded_messages(
topics=["/chest/video", "/head/imu"]
):
print(channel.topic, message.log_time, type(proto).__name__)
pip install mcap mcap-protobuf-support
The file can also be opened directly in Foxglove for visual inspection.
Attribution
Collected and released by XP Robotics.
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