rev

README.rst

@@ -5,11 +5,12 @@ Maps Server
 The maps server is a request-respond application for collating local LIDAR (or stereo) data into a point cloud and the serving outputs from that point cloud such as heightmaps, depthmaps or octrees. 
 
 Care is take to make the application:
+
 * Minimal: except for the standard libararies mentioned below
 * Data-efficient: an support transmission of local maps at 5KB/sec - sufficient for a very very weak wireless link
 * Stateless: all content output by the server is self enclosed
 
-The software was developed for the MIT DARPA Robotics Challenge entry
+The software was developed for the 2015 MIT DARPA Robotics Challenge team.
 
 **Details about message flow**
 
@@ -21,30 +22,33 @@ TODO: put flow chart here
 
 MAP_OCTREE: as for MAP_DEPTH above except an Octree, messages 10x larger
 
-***(A) enum types supported by data request***
+**(A) enum types supported by data request**
+
 - short range, detailed height map (for footstep planning)
 - long range, coarse height map (for navigation planning)
 - short range depth map (for manipulation)
 - long range depth map (for situational awareness)
 - octomap (for manipulation)
 - stereo depth map
 
-***(B) information in the maap request***
+**(B) information in the maap request**
+
 - which data type to use (depth image, point cloud, octree
 - time window to accumulate
 - virtual camera to use to project data
 - quantization level, resolution
 - height estimation mode e.g. median, mean, nearest
 
-***(C) details about the actual maps produced***
+**(C) details about the actual maps produced**
 
 The maps is entirely self contained e.g. it doesn't use bot frames or tf, or joint angles. It contains:
+
 - id to identify it
 - resolution, compression (e.g. Zlib usually)
 - projective transformation matrix for data
 - data blob
 
-example data rate for short range height map: 5KB at 1Hz
+Example data rate for short range height map: 5KB at 1Hz
 
 
 **Dependencies**