Update readme.md

README.md

@@ -2,7 +2,13 @@
 
 This repository contains code and examples for integrating [Polylidar3D](https://github.com/JeremyBYU/polylidar) with an Intel RealSense camera.  The example presented is for flat surface/obstacle detection with representation as polygons. To learn more about Polylidar3D and its use cases for concave polygons extraction see it's [repository](https://github.com/JeremyBYU/polylidar).
 
-![Example flat surface extraction with Polylidar3D](assets/media/obstacles_walk_ver3.gif)
+Using RealSense D435i
+
+![Example flat surface extraction with Polylidar3D - D435i](assets/media/obstacles_walk_ver3.gif)
+
+Using RealSense L515 (New!)
+
+![Example flat surface extraction with Polylidar3D - L515](assets/media/basement_l515.gif)
 
 The main components of the code are as follows:
 
@@ -72,3 +78,13 @@ The Intel D435 is very noisy with dense point clouds. The only way to make it us
 
 Imagine a ground triangle with 1cm edge lengths with a height noise of 1 cm. The noise dominates the triangle and makes the normal of the triangle not planar. Now image 5 cm edge lengths with same 1cm height noise. The noise makes less of a difference and it appears to be more flat.
 
+## Notes on L515
+
+Uses solid state lidar technology.
+
+1. Does *not* work in sunlight!
+2. Very precise (low noise) and accurate in indoor areas with no sunlight.
+3. Does not work well on matte black items
+4. Brand new sensor with a few bugs and issues
+5. Does not work well on angled surfaces. In other words it works best on flat surface directory in front of it.
+

surfacedetector/capture.py

@@ -305,8 +305,8 @@ def capture(config, video=None):
     ll_objects['ico'] = IcoCharts(level=config['fastga']['level'])
 
     if video:
-        frame_width = config['depth']['width'] * 2
-        frame_height = config['depth']['height']
+        frame_width = config['color']['width'] * 2
+        frame_height = config['color']['height']
         out_vid = cv2.VideoWriter(video, cv2.VideoWriter_fourcc('M', 'J', 'P', 'G'), 30, (frame_width, frame_height))
 
     all_records = []

surfacedetector/config/l515.yaml

@@ -3,7 +3,7 @@
   advanced: "" # JSON file path holding advanced settings
   playback:           # this will play a bag file instead of connecting to a live sensor
     enabled: false     # Only activate playback if this is true
-    file: "data/20200617_162944.bag"
+    file: "data/20200803_125633.bag"
     # file: "data/20200618_081754.bag"
     repeat: false     # repeat bag after its over
   save: