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
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
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