Update readme

See merge request !6

Master

See merge request !5

Darren Tsai authored 4 years ago and Stewart Worrall committed 4 years ago

Former-commit-id: b5000697164d8ab815f125c87486ba9527da347a

Refactor

See merge request !1

Stops RViz panel from blocking when optimising.

Forces display to clear when discarding last remaining sample.

Use multithreaded spinner to enable servicing in parallel.

All sampled point clouds are displayed.
Clouds are deleted when samples are discarded.
Board perimeter line width reduced to improve clarity.
Closes #5

Rename variables and functions to more descriptive versions.
Use overloaded functions to extend basic rotation GA functions.

Facilitates testing

Give Rotation struct members more descriptive names.
Overload to allow application of Rotation struct to points.
Perform cost calculations on samples directly.

Also deduce number of rings automatically from pointcloud.

Make Optimiser a member of FeatureExtractor.
Clean up matrix calculations.
Separate into methods.