From 0ead1fde50b0b95c4a08c84eff404c5e1a214841 Mon Sep 17 00:00:00 2001 From: Pierre Moulon Date: Thu, 2 Oct 2014 10:09:54 +0200 Subject: [PATCH] Update README.md Fix some typo error. --- README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index a44ca82c..3adb8d75 100644 --- a/README.md +++ b/README.md @@ -111,7 +111,7 @@ We suggest to use the [2.4.8](https://github.com/Itseez/opencv/releases/tag/2.4. # 3 Usage LSD-SLAM is split into two ROS packages, `lsd_slam_core` and `lsd_slam_viewer`. `lsd_slam_core` contains the full SLAM system, whereas `lsd_slam_viewer` is optionally used for 3D visualization. -Please also read **Genenral Notes for good results** below. +Please also read **General Notes for good results** below. ## 3.1 `lsd_slam_core` We provide two different usage modes, one meant for live-operation (`live_slam`) using ROS input/output, and one `dataset_slam` to use on datasets in the form of image files. @@ -136,7 +136,7 @@ In this case, the camera_info topic is ignored, and images may also be radially Here, `` can either be a folder containing image files (which will be sorted alphabetically), or a text file containing one image file per line. `` is the framerate at which the images are processed, and `` the camera calibration file. -Specify `_hz:=0` to sequentialize tracking and mapping, i.e. make sure that every frame is mapped properly. Note that while this typically will give best results, it can be much slower than real-time operation. +Specify `_hz:=0` to enable sequential tracking and mapping, i.e. make sure that every frame is mapped properly. Note that while this typically will give best results, it can be much slower than real-time operation. ### 3.1.3 Camera Calibration @@ -180,7 +180,7 @@ This one is with no radial distortion, as a special case of ATAN camera model bu - `m`: Save current state of the map (depth & variance) as images to `lsd_slam_core/save/` -- `p`: Brute-Force-Try to find new constraints. May improove the map by finding more constraints, but will block mapping for a while. +- `p`: Brute-Force-Try to find new constraints. May improve the map by finding more constraints, but will block mapping for a while. - `l`: Manually indicate that tracking is lost: will stop tracking and mapping, and start the re-localizer. @@ -198,7 +198,7 @@ or (for ROS indigo) Parameters are split into two parts, ones that enable / disable various sorts of debug output in `/LSD_SLAM/Debug`, and ones that affect the actual algorithm, in `/LSD_SLAM`. -* `minUseGrad`: [double] Minimal absolut image gradient for a pixel to be used at all. Increase if your camera has large image noise, decrease if you have low image-noise and want to also exploit small gradients. +* `minUseGrad`: [double] Minimal absolute image gradient for a pixel to be used at all. Increase if your camera has large image noise, decrease if you have low image-noise and want to also exploit small gradients. * `cameraPixelNoise`: [double] Image intensity noise used for e.g. tracking weight calculation. Should be set larger than the actual sensor-noise, to also account for noise originating from discretization / linear interpolation. * `KFUsageWeight`: [double] Determines how often keyframes are taken, depending on the overlap to the current keyframe. Larger -> more keyframes. * `KFDistWeight`: [double] Determines how often keyframes are taken, depending on the distance to the current Keyframe. Larger -> more keyframes. @@ -220,7 +220,7 @@ Useful for debug output are: * `plotStereoImages`: [bool] Plot searched stereo lines, and color-coded stereo-results. Nice visualization of what's going on, however drastically decreases mapping speed. * `plotTracking`: [bool] Plot final tracking residual. Nice visualization of what's going on, however drastically decreases tracking speed. -* `continuousPCOutput`: [bool] Publish current keyframe's point cloud after each update, to be seen in the viewer. Nice visualization, however bad for performance and bandwith. +* `continuousPCOutput`: [bool] Publish current keyframe's point cloud after each update, to be seen in the viewer. Nice visualization, however bad for performance and bandwidth.