update readme

Author: hutslib

README.md

@@ -8,28 +8,29 @@
 ---
 ## 🔔 News
 
-🎊 We have a plan to integrate [Grounded-Segment-Anything](https://github.com/IDEA-Research/Grounded-Segment-Anything), [Yolo-World](https://github.com/AILab-CVC/YOLO-World), [OWLv2](https://huggingface.co/docs/transformers/en/model_doc/owlv2) and  into this mapping pipeline, for **online open-world semantic-mapping**.
-Besides, we will support [Habitat-Lab](https://github.com/facebookresearch/habitat-lab) to advance developments in embodied-AI. Stay tuned for our upcoming feature releases and don’t forget to give us a star!
+🎊 We plan to integrate [Grounded-Segment-Anything](https://github.com/IDEA-Research/Grounded-Segment-Anything), [Yolo-World](https://github.com/AILab-CVC/YOLO-World), and [OWLv2](https://huggingface.co/docs/transformers/en/model_doc/owlv2) into this mapping pipeline, for **online open-world semantic-mapping**.
+Additionally, we will support [Habitat-Lab](https://github.com/facebookresearch/habitat-lab) to advance developments in embodied-AI. Stay tuned for our upcoming feature releases and don’t forget to give us a star!
 
 🔥 **27/12/2024** Release experiment configs and launch files.
 
-
 🔥 **26/11/2024** Release main algorithms!
 
-🤗 **15/10/2024** present at [iros2024-abudhabi](https://iros2024-abudhabi.org/)
+🤗 **15/10/2024** Presented at [iros2024-abudhabi](https://iros2024-abudhabi.org/)
 
-🚀 **30/06/2024** accepted by IROS2024!
+🚀 **30/06/2024** Accepted by IROS2024!
 
 📜 **26/03/2024** arXiv version [paper](https://arxiv.org/abs/2403.16880)
 
-## 🎈 Getting Start
-### Step1: Dataset and pre-process
-#### SemanticKITTI
-- prepare the dataset to desire format, following [dataset](panoptic_mapping_utils/src/kitti_dataset/README.md).
-#### flat
-- Download the dataset from the [ASL Datasets](https://projects.asl.ethz.ch/datasets/doku.php?id=panoptic_mapping).
+## 🎈 Getting Started
+
+### Step1: Dataset and Pre-process
+**SemanticKITTI**: Prepare the dataset to desired format, following [dataset](panoptic_mapping_utils/src/kitti_dataset/README.md).
+
+**flat**: Download the dataset from the [ASL Datasets](https://projects.asl.ethz.ch/datasets/doku.php?id=panoptic_mapping).
+
 ### Step2 Workspace setup
-```sudo apt-get install python3-pip python3-wstool
+```bash
+sudo apt-get install python3-pip python3-wstool
 mkdir -p DHP_ws/src
 cd DHP_ws/src
 git clone git@github.com:hutslib/DHP-mapping.git
@@ -42,24 +43,43 @@ catkin config --merge-devel
 catkin build panoptic_mapping_utils
 source ../devel/setup.zsh
 ```
-### Step3 Modify config and launch file to run an experiment
-The launch files are stored at [panoptic_mapping_ros/launch/iros_exp](panoptic_mapping_ros/launch/iros_exp)
-For example, you should modify `<arg name="base_path" default="/dataset/KITTI/dataset/sequences/07"/>` and `<arg name="config" default="iros_exp/kitti/iros_exp_kitti_detectron_07"/>` in the launch file.
 
-```
+### Step3 Modify config and launch file to run an experiment
+The launch files are located in:
+[panoptic_mapping_ros/launch/iros_exp](panoptic_mapping_ros/launch/iros_exp)
+
+The config files are located in:
+[panoptic_mapping_ros/config/mapper/iros_exp](panoptic_mapping_ros/config/mapper/iros_exp)
+
+### Key Modifications:
+- Update `base_path` and `config` in the launch file.
+- Note: For long sequences in SemanticKITTI, adjust `max_frames` in the launch file to limit the number of frames based on your device's memory.
+- Update the following in the config file:
+  - `save_map_path_when_finished`
+  - `label_info_print_path`
+  - `save_mesh_folder_path`
+  - `submap_info_path`
+  - `Tr`
+  - `P2`
+  - `labels: file_name`
+  - `visualization: colormap_print_path`
+- Note: The `Tr` and `P2` parameters should be modified based on the extrinsics calculated in the [data preprocess step](panoptic_mapping_utils/src/kitti_dataset/README.md#-📌-data-process).
+
+```bash
 # run the experiment
-roslaunch panoptic_mapping
+roslaunch panoptic_mapping_ros iros_exp_kitti_detectron_07.launch
 ```
+---
 ### To Do
 
 The code is under cleaning and will be released gradually.
 
-- [x] initial repo & paper
-- [x] dataset process & player & visualization
-- [x] main algorithms code
-- [x] config and launch files
-- [ ] visualization and other tools
-- [ ] improve docs
+- [x] Initial repo & paper
+- [x] Dataset process & player & visualization
+- [x] Main algorithms code
+- [x] Config and launch files
+- [ ] Visualization and other tools
+- [ ] Improve docs
 - [ ] Feature imporve: integrate open-world segmentation/detection algorithms
 - [ ] Feature improve: supporting Habitat-Lab