cv node readme

cv-node/README.md

+# Computer Vision Node
+The program to be run on the camera compute nodes to calculate disparity from
+stereo. Eventually this will also then send this data over the network to be
+combined from all nodes.
+
+## Build
+
+`
+cd <source_directory>
+mkdir build
+cd build
+cmake ..
+make
+`
+
+## Install
+TODO. Currently, copy `<source_direction>/config/config.json` to `~/config/ftl`.
+
+## Usage
+An optional command-line argument can be passed to specify a stereo video file
+to be used instead of directly attached cameras. The stereo video consists of
+two videos (left and right) side by side to create a wider single video.
+
+A `config.json` file should be located in `~/.config/ftl`.
+
+All options found in the config file can be changed on the command line using
+JSON pointers. For example: `--disparity/algorithm=\"sgbm\"` will change the
+JSON config option at `{ "disparity": { "algorithm": "sgbm" }}`.
+
+### Calibration
+Cameras can be calibrated by using argument `--calibrate`. You either
+need to provide a calibration video as an argument or do it live. A checkerboard
+grid pattern is required, the size can be configured in the json file.
+
+Note: best calibration is not too close or far from the cameras, the board must
+be fully visible in each camera and move to cover as much of the visual field
+as possible.
+
+In the terminal it prints RMS error values for the stereo calibration that need
+to be around 0.3 or less ideally.
+
+### Visualisation
+The default visualisation is a 3D point cloud. however you can request a
+display of the depth map, disparity map or original images.
+
+* `--display/depth=true`
+* `--display/disparity=true`
+* `--display/points=false`
+