Upload README.md

README.md

+# iri_hole_detection
+
+IRI package created to detect holes in navigation using a depth camera (usually a Realsense D435 or D435i) as input sensor.
+
+## 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.
+These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.
+
+### Prerequisites
+
+This package is part of the *3d_navigation* project, so you need to install all the necessary packages in the project to see it running.
+More specifically, this hole detector works after using a filtering chain aplied to the original pointcloud generated by the camera. This means that you need the package *iri_3dnav* for launchers and the package *pcl* for voxel dodwnsampling.
+
+### Installing
+
+Create a new folder for the package and clone the repository using
+```
+mkdir iri_hole_detection
+cd iri_hole_detection
+git clone https://gitlab.iri.upc.edu/mobile_robotics/colrobtransp/3d_navigation/iri_hole_detection.git
+```
+Compile the package with
+```
+roscd
+cd ..
+catkin_make
+```
+
+## Params
+
+* **hole_min_p** - No of Points to be hole (less points is a hole).
+* **num_cells** - No of cells in the detections zone.
+* **box_y** - Y distance hole detection zone.
+* **box_x_ini** - Initial X hole detection zone.
+* **box_x_end** - X distance hole detection zone.
+* **box_z_ini** - Initial Z hole detection zone.
+* **box_z_end** - Z distance hole detection zone.
+
+## Authors
+
+* **Àngel Santamaria-Navarro, Ernesto H. Teniente, Martí  Morta and Juan Andrade-Cetto** - *Initial work for PMD camera*
+* **Joan Grimalt Oliver** - *Adaptation to Realsense D435 and D435i*
+* **José Enrique Domínguez Vidal** - *Adaptation to Realsense D435 and D435i*
+
+## Acknowledgments
+
+* *Terrain classification in complex 3D outdoor environments* paper written by Àngel Santamaria-Navarro, Ernesto H. Teniente, Martí Morta and Juan Andrade-Cetto
+* Hat tip to anyone whose code was used
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