From a85923db87d1d17f2b27bc160b2d9101e4eda60b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Enrique=20Dom=C3=ADnguez?= <jdominguez@iri.upc.edu> Date: Mon, 7 Oct 2019 11:02:55 +0200 Subject: [PATCH] Updated Getting Started section --- README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 9859ac9..1a0eaf1 100644 --- a/README.md +++ b/README.md @@ -4,7 +4,7 @@ IRI package created to calculate the normal vector of each pointcloud's point in ## Getting Started -The main idea is to select an area in front of the robot where the camera is focused and divide this area in several cells (typically 3). After that, the number of points in each cell is counted and, if this number in any cell is less than a threshold, there is a hole in that cell. +The main idea is to calculate the normal vector of each point using it and its closest neighbours. After that, if that vector is out of some thresholds (relative to the inclination with respect to the plane of each point), that point is classified as not passable and, therefore, as an obstacle. On the other hand, if the vector fulfills all the thresholds, it corresponds to a passable terrain. These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. ### Prerequisites @@ -30,7 +30,7 @@ catkin_make ## Params * **filter_min_dist** - Min distance threshold for considering a point valid. -* **normal_KSearch** - No of neighbors to estimate the surface. +* **normal_KSearch** - No of neighbours to estimate the surface. * **normal_x** - Normal X threshold. * **normal_y** - Normal Y threshold. * **normal_z** - Normal Z threshold. @@ -44,4 +44,4 @@ catkin_make ## Acknowledgments * *Terrain classification in complex 3D outdoor environments* paper written by Àngel Santamaria-Navarro, Ernesto H. Teniente, Martà Morta and Juan Andrade-Cetto. -* Hat tip to Git. \ No newline at end of file +* Hat tip to Git. -- GitLab