Updates to readmes

README.md

@@ -11,6 +11,9 @@ This monorepo contains all elements of the FTL software system.
 * Applications : Executable apps for the different node machines
   * vision : Stereo vision node in p2p network, generates an RGB-Depth net stream
   * reconstruct : Performs scene reconstruction from synchronised RGB-Depth sources
+  * calibration-multi : All camera intrinsic and extrinsic calibration in one process
+  * groupview : A quick camera viewing app that supports frame and video capture
+  * gui : Desktop GUI
 * front-end : Client side FTL code, both web and native
 * web-service : A web backend service provider acting as a form of proxy
 * www : FTL Website

components/net/README.md

 # FTL Network Library
-FTL Net provides stream, RPC and Peer-2-Peer functionality for the FTL system.
-The idea is to allow an efficient mapping to operating system sockets to
-minimise userspace copy operations, whilst still allowing for data packing for
-smaller RPC calls. The P2P component implements different rpc search strategies
-to allow calls to find one, all, many or specific results across the network.
-
-Multiple protocols are supported, and it is intended that NAT traversal will be
-included. However, security, whether encryption or identification, is not
-considered presently.
-
-There are two supported languages: C++ and Javascript. See each respective
-language folder for more details.
+FTL Net provides an easy to use C++17 network library based around a mix of
+streams and RPC. It is now highly optimised to minimise memory copies and
+locking, whilst fully taking advantage of all CPU cores for processing
+messages received over the network. Each message received is dispatched into
+a thread pool. The optimisation works on the basis of a relatively low number
+of socket connections but with a high bandwidth and low latency requirement
+in sending and receiving on those sockets. Further work would be needed to
+be efficient with large or massive numbers of sockets.
+
+The protocol is based on top of MsgPack which works in both C++ and JavaScript.
+To work with JavaScript the protocol works over TCP and TCP+Websockets. The
+library is also cross platform, supporting Windows and Linux.
+
+It is a template library, allowing simple RPC calls and bindings using the
+latest in C++ features such as optionals, lambdas and futures.
+
+## Universe
+A Universe class represents a network group and is the primary means of
+interaction for the user of the library. It supports `bind`, `connect`, `call`,
+`send`, `disconnect`, `asyncCall` and more.
+
+## Peer
+A fairly internal object that wraps a socket connection and deals with all
+actual sending and receiving over the network.
+

components/rgbd-sources/README.md

+# RGB-Depth Sources
+
+This component provides a variety of sources for colour and depth images. These
+include the following:
+* Intel Realsense depth camera
+* Stereo video from two video capture cards using a disparity algorithm
+* Snapshots that were previously captured and saved to disk
+* Middlebury test datasets as available online
+* Streamed network sources from other nodes
+
+An RGB-D source is represented as a two image channel object that is generated
+through a pipeline of processes usually consisting of the following (but not
+all sources have all steps):
+1. Frame capture from hardware
+2. Internal buffer swapping if double-buffering is used
+3. Retrieval, an IO blocking process of downloading images from devices
+4. Computation of, for example, disparity and depth maps from colour images
+
+## Groups
+A collection of sources may form a group that must be synchronised accurately
+for reconstruction to take place. A group class coordinates the above 4 steps
+across all sources such that millisecond accurate frames with timestamps can
+be buffered and collected together to be passed on to the next stage. A high
+precision timer is used to manage the pipeline.
+
+## Streaming
+One possible use for a group of sources is to stream them over a network
+where they may be re-grouped. A streamer object will receive sets of frames
+from a group object and then divide each image into a number of chunks, each
+of which is compressed on a CPU core and sent to every client who asks for them.
+Each client may ask for a different bitrate and resolution so the streamer will
+also take care of this.
+
+## Calibration
+Some sources require a camera calibration step. Lens corrections an stereo
+camera configurations are applied by the calibrate class. Only stereo video
+sources currently need this step. There is also some basic colour correction
+that can be applied.
+
+## Disparity Algorithms
+A few algorithms are included with the RGB-D sources for converting two
+colour images into one colour and one depth image based upon the pixel shift
+observed between the two images. LibSGM is our algorithm of choice currently.
+Further pre and post filtering and smoothing steps are applied, in particular
+an optical flow based temporal smoothing across a number of frames to reduce
+flickering effects.
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