Update README.md

Author: Daniel

README.md

@@ -1,2 +1,50 @@
 # upsamplingCloudPCL
 Upsampling method for upsampling an input cloud using mls method of PCL 1.9.1
+
+## Input file structure support
+
+* .pcd 
+* .ply
+* .txt
+* .xyz
+
+## Output file structure (.pcd)
+
+* umsampled_cloud.pcd 
+
+## Example
+<img src="./example/scan1.png" align="center" height="400" width="720"><br>
+
+-------------------
+## Compilation
+* Set "YOUR OWN" PCL Build DIR in CMakeList.txt e.g: **/opt/pcl-1.8.1/build** and save it.
+* Create a "build" folder
+
+in the main folder:
+
+    - cd build  
+    - cmake ../
+    - make
+       
+        	 
+### Test
+
+    cd /build
+    ./upsampling_cloud <cloud file> 
+    
+## Note
+
+You can set  different params for get better results 
+
+    mls.setComputeNormals(true);
+    mls.setInputCloud(input_cloud);
+    mls.setSearchMethod(kd_tree);
+    mls.setSearchRadius(search_radius);
+    mls.setUpsamplingMethod(pcl::MovingLeastSquares<pcl::PointXYZRGB, pcl::PointXYZRGB>::UpsamplingMethod::SAMPLE_LOCAL_PLANE);
+    mls.setUpsamplingRadius(sampling_radius);
+    mls.setUpsamplingStepSize(step_size);
+    mls.setPolynomialOrder(pol_order);
+    mls.setSqrGaussParam(gauss_param);// (the square of the search radius works best in general)
+    mls.setCacheMLSResults(true);//Set whether the mls results should be stored for each point in the input cloud.
+    mls.setNumberOfThreads(num_threats);
+