Run example documentation

README.md

@@ -17,4 +17,20 @@ The calibration process can be carried out with the following three snippets of
 
 * `UScalib.py`: the calibration process is carried out here. For this, we need more than one dataset. With more than one dataset we can evaluate the reproducibility and assure a good quality of the calibration. As input we need the size of the ultrasound image in pixel, in addition to the `target_pose.npy` and `cross_point.npy` generated with the last two snippets of code. The output is a `report.txt` with the calibration reproducibility measured in 5 points of the ultrasound image (4 corners and center). Finally, a file `USparams.npz` with x and y scales factors of the ultrasound image and the transformation matrix from the ultrasound image {I} to the target {T} coordinate system.
 
-In addition to the above, `target.py` contains different functions for target detection and pose estimations. Furthermore `calibration.py` contains the `Calibration` class which handles the calibration procedure. If your calibration was done with Matlab, you can use `create_calib_params.m` to edit calibration variables to be used correctly for target pose estimation.
+In addition to the above, `target.py` contains different functions for target detection and pose estimations. Furthermore `calibration.py` contains the `Calibration` class which handles the calibration procedure. If your calibration was done with Matlab, you can use `create_calib_params.m` to edit calibration variables to be used correctly for target pose estimation.
+
+## Usage example
+
+Some important information for the calibration can be set in the `config.yaml` file. Here, the path of calibration dataset have to be specified. Also, we need to specify the folder name for the right images, left images, and US images that are supposed to be in the dataset path. Finally, the stereo calibration parameters file name and the ultrasound image size in pixels have to be set.
+
+* Clone this repository: `git clone https://github.com/jhacsonmeza/US-Calibration.git`
+* Download the calibration [dataset example](https://drive.google.com/drive/folders/1E0zDVzpZ2zJhMnnxYgoIrWsO7RwUDwSH?usp=sharing). Note that the current parameters in `config.yaml` are adapted to this dataset.
+* Run `python ProbePose.py` for target/transducer pose estimation.
+* `python PointSegment.py` to segment the cross-wire points manually.
+* `python UScalib.py` for estimate the freehand ultrasound parameters.
+
+In the following image, an example of the recosntructed coordinate systems involved in the calibration is shown.
+
+<p align="center">
+    <img src="figures/coordinates_systems.png" alt="coor-sys" width="600px"/>
+</p>