refactoring, comment and readme updated

Author: gg-dema

README.md

@@ -0,0 +1,42 @@
+# LS-Calibration 
+
+## Description
+A calibration engine that runs a least squares optimization for a tricycle-like robot. This project is part of my exam at Sapienza University for the lectures of Professor Giorgio Grisetti [[Class Info](https://sites.google.com/diag.uniroma1.it/probabilistic-robotics-2023-24)].
+
+For any doubts, contributions, or discussions, feel free to write an email [here]([email protected]).
+
+## Installation
+
+### Prerequisites
+- CMake
+- Eigen
+- Google Test (gtest)
+
+### Build Instructions
+Clone the project and build it using CMake:
+
+```sh
+# Clone the repository
+git clone https://github.com/yourusername/yourproject.git Folder
+cd Folder
+
+# Initialize and update submodules (for googletest)
+git submodule init
+git submodule update
+
+# Build
+mkdir build && cd build
+cmake ..
+# Replace N with the number of CPU cores you want to use
+make -jN           
+```
+
+## How to run
+Exec the main file in the build folder. The final parameters are displayed on the terminal. For extra log, plot and statistics, run the script view_log.py in the ``src/script`` folder directly from there
+
+
+## Results
+The first plot shows the comparison between the ground truth and the obtained trajectory of the sensor (not the robot base). In the second plot, we see the difference between the original odometry of the robot (purple/green) and the results with the calibrated parameters. On the right, we have the obtained parameters for a few epochs.
+
+![Image](data/log/log.png)
+