Data

This page describes how to save and load data with Ein, especially focusing on calibrated light rays. One understandig of Ein is as a tool for collecting calibrated light rays.

• Gripper mask
• Camera calibration parameters
• Camera color information
• table height
• hand camera offset?

Saving and Loading Scenes

Data Formats

Ein stores its data in the default directory in the ein checkout. Configuration is stored in a directory named for the serial number. Objects are stored in the objects directory and gaussian maps are stored in the maps directory. Streams are stored in the streams directory. We use a combination of custom YAML formats as well as standard images to store data. Scenes consist of uuencoded compressed YAML, and we provide C++ and python code to unpack it into opencv images.