FIX-ADD: typos + gif for monocular TSlam

README.md

@@ -66,9 +66,15 @@ make -j$(nproc)
 sudo make install  # if building as API
 ```
 
-## Run monocular slam as executable:
-In this project, we provide you an example executable to run the monocular slam.
-After building, an executable `tslam_monocular` will be generated in `build/utils`. You can run it with the following commend. Note that two extra parameters are needed: **video source** and path to the **camera calibration file**. 
+## Run TSlam as executable:
+
+<p align="center">
+<img src="./assets/img/sticker-crop.gif" width="500">
+</p>
+<p align="center"><i><small>Mapping operation of a timber piece. Next the reconstructed 3D model, together with some extra execution info, can be overlayed on top of the physical piece. </i></small></p>
+
+In this project, we provide you an example executable to run the TSlam.
+After building, an executable `tslam_monocular` will be generated in `build/utils`. You can run it with the following command. Note that two extra parameters are needed: **video source** and path to the **camera calibration file**. 
 
 In the `example` folder, we provide you an example video, a camera calibration file, and a map for you to test.
 
@@ -86,12 +92,12 @@ otherwise, you won't be able to run mapping. In the `assets/voc` folder we provi
 - `-out`: Path to the output map.
 - `-map`: Path to the input map.
 - `-exportVideo`: Path and filename (without extension) to the output video. A video `[file/path/and/name].mp4` will be exported, containing the processed frames with SLAM information.
-- `-exportRawVideo`:  Path and filename (without extension) to the output RAW video. A video `[file/path/and/name]_raw.mp4` will be exported, containing the original frames captured by the camera (exclude any processing).
+- `-exportRawVideo`:  Path and filename (without extension) to the output RAW video. A video `[file/path/and/name]_raw.mp4` will be exported, containing the original frames captured by the camera (excluding any processing).
 - `-localizeOnly`: Indicating it's not mapping, so we can skip some operations.
-- `-outCamPose`: Path to the output of the camera pose. The file will be a txt file with record in following format: `frame_id timestamp_in_sec(e.g. 1.232934542394) pos_x pos_y pos_z rot_quaternion_x rot_quaternion_y rot_quaternion_z rot_quaternion_w valid_marker_num` (separate by space). For untracked frames, the pose will be set to 0 and rotation quaternion will be `(x = 0, y = 0, z = 0, w = 1)`.
+- `-outCamPose`: Path to the output of the camera pose. The file will be a txt file with record in the following format: `frame_id timestamp_in_sec(e.g. 1.232934542394) pos_x pos_y pos_z rot_quaternion_x rot_quaternion_y rot_quaternion_z rot_quaternion_w valid_marker_num` (separate by space). For untracked frames, the pose will be set to 0 and the rotation quaternion will be `(x = 0, y = 0, z = 0, w = 1)`.
 - `-drawMesh`: Path to the mesh to draw (in `.ply`) The mesh should be generated by the same input map.
 - `-enableLoopClosure`: Enable optimization when loop closure is detected. You may notice dramatic lag during mapping with this flag on.
-- `-noUndistort`: Disable the image undistortion (the program undistort the image based on the distortion matrix in the camera calibration file by default). You should only set this flag when you are using a pre-processed video sequence.
+- `-noUndistort`: Disable the image undistortion (the program undistorts the image based on the distortion matrix in the camera calibration file by default). You should only set this flag when you are using a pre-processed video sequence.
 - `-noMapOptimize`: Disable the global optimization when saving the map.
 - `-noKeyPoints`: Disable key-point detection (advised at runtime without a mask for the tool).
 - `-noX`: Disable the display of the GUI.