Sens File Format (see sensorData.h):

struct SensorData { unsigned int m_versionNumber; std::string m_sensorName;

CalibrationData m_calibrationColor;			//4x4 intrinsic matrix 
CalibrationData m_calibrationDepth;			//4x4 intrinsic matrix

COMPRESSION_TYPE_COLOR m_colorCompressionType;	//scannet color frames are typically jpeg encoded
COMPRESSION_TYPE_DEPTH m_depthCompressionType;	//scannet depth frames are typically zLib encoded

unsigned int m_colorWidth;
unsigned int m_colorHeight;
unsigned int m_depthWidth;
unsigned int m_depthHeight;
float m_depthShift;	//conversion from float[m] to ushort (typically 1000.0f)

std::vector<RGBDFrame> m_frames;	// <= Main data (contains timestamps and rigid transforms)
std::vector<IMUFrame> m_IMUFrames;

}

C++ ToolKit

See c++/

Simple Python Data Exporter

See python/