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@@ -1,44 +1,54 @@
 # SurfaceCast
 
-Sends background-subtracted depth camera video via ![GStreamer](https://gstreamer.freedesktop.org/) (left: raw video, center: rectified, right: background removed).
+SurfaceCast sends background-subtracted depth camera video via ![GStreamer](https://gstreamer.freedesktop.org/) (left: raw video, center: rectified, right: background removed).
 
 ![realsense example](assets/demo.jpg)
 
-This tool records live video of a flat surface with a depth camera, automatically detects the background plane, subtracts that from the video, and sends the result to a GStreamer pipeline. Everything that is part of the background within a configurable distance will turn bright green so it can be used with other GStreamer filters, e.g. using `alpha method=green` and `videomix`. Optionally, an arbitrary quadrilateral area in the raw image can be extracted and rectified before streaming (e.g. a projection screen).
+This tool records live video of a flat surface with a depth camera, automatically detects the background plane, subtracts it from the video, and sends the result to a GStreamer pipeline. Everything that is part of the background within a configurable distance will turn bright green so it can be used with other GStreamer filters, e.g. using `alpha method=green` and `videomix`. Optionally, an arbitrary quadrilateral area in the raw image can be extracted and rectified before streaming (e.g. a projection screen).
 
 [![SurfaceStreams Video](assets/anim.gif)](https://www.youtube.com/watch?v=Qe1BROtGyzI "SurfaceStreams Video")
 
 ### Usage
 
-By default, all executables will run the GStreamer pipeline `videoconvert ! fpsdisplaysink` to provide a debug view. If you want any other pipeline, pass it as a single commandline parameter, e.g. `./realsense 0 "jpegenc ! rtpgstpay ! udpsink"` to stream the compressed view over a network (first parameter is camera number). In the debug view, the following commands are available:
+Example 1 - debug/config view of plain webcam: `./surfacecast v4l2 /dev/video0`
+
+Example 2 - stream Realsense to ![virtual camera device](https://github.com/umlaeute/v4l2loopback): `./surfacecast realsense 0 "videoconvert ! video/x-raw,format=RGB,width=1280,height=720 ! v4l2sink device=/dev/video20"` (mind the quotes around the GStreamer pipeline)
+
+Example 3 - simple network stream of Kinect Azure: `./surfacecast k4a 0 "jpegenc ! rtpjpegpay ! udpsink host=..."`
+
+By default, 1280x720 RGB video data will be sent to the GStreamer pipeline `videoconvert ! fpsdisplaysink` to provide a debug view. If you want any other pipeline, pass it as a single quoted commandline parameter. In the debug view, the following hotkeys are available:
 
   * `space` - reset the perspective transformation
   * `mouse` - create new perspective transformation 
     * click the 4 corners of the desired quadrilateral area in succession
     * first click defines top-left corner, rest in clockwise order
-    * transformation will be saved as `perspective.xml` in current directory
   * `p` - re-run the RANSAC plane detection
   * `f` - toggle filtering of the background plane
   * `+` - increase the tolerance wrt background by 0.2cm
   * `-` - decrease the tolerance wrt background by 0.2cm
   * `q` - exit program
 
+After the perspective calibration has been completed, all current parameters (tolerance, perspective transform, plane parameters) are saved to `config.xml` in current directory; if this file is present at startup, parameters are re-initialized with saved values.
+
 ### Supported/tested devices:
 
-  * Intel Realsense D415
-  * Microsoft Kinect Azure
-  * Samsung SUR40
   * Generic Video4Linux2 camera (without background subtraction)
-  * Microsoft Kinect v2 (deprecated)
+  * Samsung SUR40 (with brightness-based background subtraction)
+  * Intel Realsense D415/D435
+  * Microsoft Kinect Azure
+  * Virtual Camera
 
+### Build requirements:
 
-### Library requirements:
+Reference platform: Ubuntu 20.04.
 
-  * gstreamer-1.16 (libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev)
-  * opencv-4.2.0 (libopencv-dev libeigen3-dev)
-  * libk4a-1.4.1
-  * librealsense2-2.50 (https://github.com/IntelRealSense/librealsense)
-  * libfreenect-0.2-gstreamer (deprecated) (https://github.com/floe/libfreenect2/tree/gstreamer)
+  * General (V4L2, SUR40, virtual camera):
+    * gstreamer-1.16 (`libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev`)
+    * opencv-4.2.0 (`libopencv-dev libeigen3-dev`)
+  * Kinect Azure:
+    * libk4a-1.4.1 (https://github.com/microsoft/Azure-Kinect-Sensor-SDK)
+  * Realsense:
+    * librealsense2-2.50 (https://github.com/IntelRealSense/librealsense)
   
 ### License