Completed Top Level README

CMakeLists.txt

@@ -30,12 +30,12 @@ target_include_directories(ScanContext PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/scan_
 
 
 # If testing is configured, setup the tests
-if (${SCAN_CONTEXT_ENABLE_TESTS})
+if (${SCAN_CONTEXT_BUILD_TESTS})
   add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/tests")
 endif()
 
 
 # If python bindings are configured, build the python bindings
-if (${SCAN_CONTEXT_ENABLE_PYTHON})
+if (${SCAN_CONTEXT_BUILD_PYTHON})
   add_subdirectory("${CMAKE_CURRENT_SOURCE_DIR}/python")
 endif()

README.md

@@ -17,17 +17,63 @@ This library provides a simple and light weight implementation of the ScanContex
 * `python/` - Contains definitions for python wrappers of the modules above.
 * `tests/` - Provides unit tests to validate the implementation.
 
-Code is currently documented with in-line comments (doxygen coming soon!). For example usage please see the unit tests in `tests/`
+Code is currently documented with in-line comments (doxygen coming soon!). For example usage please see the unit tests in `tests/`.
 
-[TODO] Document Install
 
-[TODO] Document PointCloud Usage
+#### Pointcloud Definitions
+This library defines the input pointcloud very generically to enable developers to use it within existing systems. Specifically, we only assume that PointClouds are `std::vectors` of structures of templated type T. The user can use any T so long as it includes x, y, z elements. The only thing the user has to do is to provide the correct Accessor function to extract this elements from T.
 
-[TODO] Document independence to other libraries
+We provide 3 common Accessor functions (`scan_context/include/scan_context/types.h`), and example usage can be found in the unit tests.
+
+Since we expect most people to use ScanContext along side PCL who's point structures are accessed with fields, we set the default accessor to `fieldAccessor`.
 
 #### Dependencies
 The following libraries are dependencies of ScanContext:
-* Eigen3 [Matrix Math] - Must be installed on the system
-* nanoflann [KDTrees in Database] - Included automatically via fetch content
-* Pybind11 [Python Bindings] - Enables python bindings (ONLY if `-DSCAN_CONTEXT_ENABLE_PYTHON=TRUE`)
-* gtest [Unit Testing Framework] - Provides unit testing framework (ONLY if `-DSCAN_CONTEXT_ENABLE_TEST=TRUE`)
+* Eigen3 [Matrix Math] - Must be installed on the system.
+* nanoflann [KDTrees in Database] - Included automatically via fetch content.
+* Pybind11 [Python Bindings] - Enables python bindings.
+  * Required ONLY if `-DSCAN_CONTEXT_BUILD_PYTHON=TRUE`.
+* gtest [Unit Testing Framework] - Provides unit testing framework.
+  * Required ONLY if `-DSCAN_CONTEXT_BUILD_TESTS=TRUE`.
+
+#### Installation
+##### C++
+We do not provide infrastructure to install this library. It is only ever going to be used in the context of another project, so we heavily suggest incorporating it into your CMake based project via `FetchContent`. An example of the CMake code required to do so can be found below and an example of this being used in a larger project is coming soon!
+
+```
+include(FetchContent)
+FetchContent_Declare(
+  scan_context
+  GIT_REPOSITORY git@github.com:DanMcGann/scan_context.git
+  GIT_TAG        main
+)
+FetchContent_MakeAvailable(scan_context)
+```
+
+##### Python
+Unfortunately, python does not provide the same level of convenience to include in existing projects. To install the python bindings...
+* Clone this repository
+  * `git clone git@github.com:DanMcGann/scan_context.git`
+* Build the code
+  * `cd scan_context && mkdir build && cd build`
+  * `cmake .. -DSCAN_CONTEXT_BUILD_PYTHON=TRUE`
+  * `make`
+* Install the Python Bindings
+  * `make python-install`
+
+Note: The CMake target `python-install` uses `pip` under the hood, this means that you can specifically install `scan_context` within conda or similar environments.
+
+
+#### Testing
+To run the unit tests:
+* Clone this repository
+  * `git clone git@github.com:DanMcGann/scan_context.git`
+* Build the code
+  * `cd scan_context && mkdir build && cd build`
+  * `cmake .. -DSCAN_CONTEXT_BUILD_PYTHON=TRUE`
+  * `make`
+* Run the Unit tests
+  * `make test`
+
+# Issues
+If you have any issues with this library please submit a github ticket. If you are reporting a bug please provide a unit test that demonstrates the bug!