From 1b074dcbf0b99815b60233cb69deaec2a3c094a0 Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Wed, 5 Apr 2023 22:53:51 +0300
Subject: [PATCH 01/16] Renaming files with metrics

---
 vprdb/metrics/{frames_coverage.py => frames_coverage_.py}   | 0
 vprdb/metrics/{recall.py => recall_.py}                     | 0
 vprdb/metrics/{spatial_coverage.py => spatial_coverage_.py} | 0
 3 files changed, 0 insertions(+), 0 deletions(-)
 rename vprdb/metrics/{frames_coverage.py => frames_coverage_.py} (100%)
 rename vprdb/metrics/{recall.py => recall_.py} (100%)
 rename vprdb/metrics/{spatial_coverage.py => spatial_coverage_.py} (100%)

diff --git a/vprdb/metrics/frames_coverage.py b/vprdb/metrics/frames_coverage_.py
similarity index 100%
rename from vprdb/metrics/frames_coverage.py
rename to vprdb/metrics/frames_coverage_.py
diff --git a/vprdb/metrics/recall.py b/vprdb/metrics/recall_.py
similarity index 100%
rename from vprdb/metrics/recall.py
rename to vprdb/metrics/recall_.py
diff --git a/vprdb/metrics/spatial_coverage.py b/vprdb/metrics/spatial_coverage_.py
similarity index 100%
rename from vprdb/metrics/spatial_coverage.py
rename to vprdb/metrics/spatial_coverage_.py

From b271f53bc2ee9b903d0147fa7b5c3f2a3f2ebd43 Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Wed, 5 Apr 2023 22:55:11 +0300
Subject: [PATCH 02/16] Additional docs for database

---
 vprdb/core/database.py | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/vprdb/core/database.py b/vprdb/core/database.py
index 240f118..afa1a18 100644
--- a/vprdb/core/database.py
+++ b/vprdb/core/database.py
@@ -25,6 +25,11 @@
 
 @dataclass(frozen=True)
 class Database:
+    """
+    Class for easy storage and processing of color images, depth images
+    and trajectory and their further use for the VPR task
+    """
+
     color_images: list[ColorImageProvider]
     point_clouds: list[DepthImageProvider | PointCloudProvider]
     trajectory: list[NDArray[Shape["4, 4"], Float]]
@@ -44,6 +49,15 @@ def from_depth_images(
         intrinsics: NDArray[Shape["3, 3"], Float],
         trajectory: list[NDArray[Shape["4, 4"], Float]],
     ):
+        """
+        The method allows to construct the Database from depth images
+        :param color_images_paths: List of paths to color images
+        :param depth_images_paths: List of paths to depth images
+        :param depth_scale: Depth scale for transforming depth image into point clouds
+        :param intrinsics: Intrinsic camera parameters
+        :param trajectory: List of camera poses
+        :return: Constructed database
+        """
         color_images_providers = [
             ColorImageProvider(path_to_image) for path_to_image in color_images_paths
         ]
@@ -60,6 +74,13 @@ def from_point_clouds(
         point_clouds_paths: list[Path],
         trajectory: list[NDArray[Shape["4, 4"], Float]],
     ):
+        """
+        The method allows to construct the Database from point clouds
+        :param color_images_paths: List of paths to color images
+        :param point_clouds_paths: List of paths to point clouds
+        :param trajectory: List of camera poses
+        :return: Constructed database
+        """
         color_images_providers = [
             ColorImageProvider(path_to_image) for path_to_image in color_images_paths
         ]

From eb6c3a755c0ac32cb2da2abaa860410fe6d1c11b Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Wed, 5 Apr 2023 22:56:11 +0300
Subject: [PATCH 03/16] Additional docs for providers

---
 vprdb/providers/color_image_provider.py | 3 +++
 vprdb/providers/depth_image_provider.py | 5 +++++
 vprdb/providers/point_cloud_provider.py | 3 +++
 3 files changed, 11 insertions(+)

diff --git a/vprdb/providers/color_image_provider.py b/vprdb/providers/color_image_provider.py
index 13984d1..4b0dfbc 100644
--- a/vprdb/providers/color_image_provider.py
+++ b/vprdb/providers/color_image_provider.py
@@ -20,8 +20,11 @@
 
 @dataclass(frozen=True)
 class ColorImageProvider:
+    """ Color image provider is a wrapper for color images """
     path: Path
+    """ Path to file on hard drive"""
 
     @property
     def color_image(self) -> NDArray[Shape["*, *, 3"], UInt8]:
+        """ Returns image in OpenCV format"""
         return cv2.imread(str(self.path), cv2.IMREAD_COLOR)
diff --git a/vprdb/providers/depth_image_provider.py b/vprdb/providers/depth_image_provider.py
index 923ca33..2594291 100644
--- a/vprdb/providers/depth_image_provider.py
+++ b/vprdb/providers/depth_image_provider.py
@@ -21,12 +21,17 @@
 
 @dataclass(frozen=True)
 class DepthImageProvider:
+    """ Depth image provider is a wrapper for depth images """
     path: Path
+    """ Path to file on hard drive """
     intrinsics: NDArray[Shape["3, 3"], Float]
+    """ Intrinsic camera parameters """
     depth_scale: int
+    """ Depth scale for transforming depth """
 
     @property
     def point_cloud(self) -> o3d.geometry.PointCloud:
+        """ Returns Open3D point cloud """
         depth_image = cv2.imread(str(self.path), cv2.IMREAD_ANYDEPTH)
         height, width = depth_image.shape
         depth_image = o3d.geometry.Image(depth_image)
diff --git a/vprdb/providers/point_cloud_provider.py b/vprdb/providers/point_cloud_provider.py
index 686d607..83c41bc 100644
--- a/vprdb/providers/point_cloud_provider.py
+++ b/vprdb/providers/point_cloud_provider.py
@@ -19,8 +19,11 @@
 
 @dataclass(frozen=True)
 class PointCloudProvider:
+    """ Point provider is a wrapper for point clouds """
     path: Path
+    """ Path to file on hard drive """
 
     @property
     def point_cloud(self) -> o3d.geometry.PointCloud:
+        """ Returns Open3D point cloud """
         return o3d.io.read_point_cloud(str(self.path))

From 0f79ce977ced926e87bf98cf29c2f03430ab0e28 Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Wed, 5 Apr 2023 22:57:04 +0300
Subject: [PATCH 04/16] Additional docs for global localization pipeline

---
 vprdb/global_localization/global_localization.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/vprdb/global_localization/global_localization.py b/vprdb/global_localization/global_localization.py
index 5417a59..a2f3cc6 100644
--- a/vprdb/global_localization/global_localization.py
+++ b/vprdb/global_localization/global_localization.py
@@ -21,6 +21,11 @@
 
 
 class GlobalLocalization:
+    """
+    Allows you to create a predictor based on a given database
+    and one of the methods of global localization.
+    Results can be improved with SuperGlue.
+    """
     def __init__(
         self,
         global_extractor: CosPlace | NetVLAD,

From 19075ffc5732ae7900c0d9d18622bc7a3f8a2476 Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Wed, 5 Apr 2023 22:58:04 +0300
Subject: [PATCH 05/16] Fix codestyle for global localization

---
 vprdb/global_localization/global_localization.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/vprdb/global_localization/global_localization.py b/vprdb/global_localization/global_localization.py
index a2f3cc6..d635521 100644
--- a/vprdb/global_localization/global_localization.py
+++ b/vprdb/global_localization/global_localization.py
@@ -26,6 +26,7 @@ class GlobalLocalization:
     and one of the methods of global localization.
     Results can be improved with SuperGlue.
     """
+
     def __init__(
         self,
         global_extractor: CosPlace | NetVLAD,

From f47520a196801261321a51217b9c632279df4907 Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Wed, 5 Apr 2023 22:59:43 +0300
Subject: [PATCH 06/16] Additional docs for VPR systems

---
 vprdb/vpr_systems/cos_place/cos_place.py | 4 ++++
 vprdb/vpr_systems/netvlad/netvlad.py     | 4 ++++
 vprdb/vpr_systems/superglue/superglue.py | 5 +++++
 3 files changed, 13 insertions(+)

diff --git a/vprdb/vpr_systems/cos_place/cos_place.py b/vprdb/vpr_systems/cos_place/cos_place.py
index 339e181..5e409fc 100644
--- a/vprdb/vpr_systems/cos_place/cos_place.py
+++ b/vprdb/vpr_systems/cos_place/cos_place.py
@@ -36,6 +36,10 @@
 
 
 class CosPlace:
+    """
+    Realisation of [CosPlace](https://github.com/gmberton/CosPlace) global localization method.
+    """
+
     def __init__(self, backbone: str, fc_output_dim: int, path_to_weights: str):
         self.backbone = backbone
         self.fc_output_dim = fc_output_dim
diff --git a/vprdb/vpr_systems/netvlad/netvlad.py b/vprdb/vpr_systems/netvlad/netvlad.py
index 8092e8e..7a6ad32 100644
--- a/vprdb/vpr_systems/netvlad/netvlad.py
+++ b/vprdb/vpr_systems/netvlad/netvlad.py
@@ -46,6 +46,10 @@
 
 
 class NetVLAD:
+    """
+    Realisation of [NetVLAD](https://github.com/QVPR/Patch-NetVLAD) global localization method.
+    """
+
     def __init__(
         self,
         path_to_weights: str,
diff --git a/vprdb/vpr_systems/superglue/superglue.py b/vprdb/vpr_systems/superglue/superglue.py
index 06b6e54..73f13cc 100644
--- a/vprdb/vpr_systems/superglue/superglue.py
+++ b/vprdb/vpr_systems/superglue/superglue.py
@@ -53,6 +53,11 @@
 
 
 class SuperGlue:
+    """
+    Realisation of [SuperGlue](https://github.com/magicleap/SuperGluePretrainedNetwork)
+    matcher with SuperPoint extractor.
+    """
+
     def __init__(
         self,
         path_to_sp_weights,

From 03a26437578b8ad2b4b4c28e7e9e6d7dfd40811e Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Wed, 5 Apr 2023 23:07:16 +0300
Subject: [PATCH 07/16] New init files for correct pdoc work

---
 vprdb/__init__.py                       | 16 +++++++++++++
 vprdb/core/__init__.py                  |  6 +++++
 vprdb/global_localization/__init__.py   |  5 ++++
 vprdb/io/__init__.py                    | 32 +++++++++++++++++++++++++
 vprdb/metrics/__init__.py               | 12 +++++++---
 vprdb/providers/__init__.py             |  3 +++
 vprdb/reduction_methods/__init__.py     |  2 ++
 vprdb/vpr_systems/__init__.py           |  3 +++
 vprdb/vpr_systems/cos_place/__init__.py |  2 ++
 vprdb/vpr_systems/netvlad/__init__.py   |  2 ++
 vprdb/vpr_systems/superglue/__init__.py |  2 ++
 11 files changed, 82 insertions(+), 3 deletions(-)

diff --git a/vprdb/__init__.py b/vprdb/__init__.py
index e69de29..9e1eaad 100644
--- a/vprdb/__init__.py
+++ b/vprdb/__init__.py
@@ -0,0 +1,16 @@
+#  Copyright (c) 2023, Ivan Moskalenko, Anastasiia Kornilova
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+"""
+.. include:: ../README.md
+"""
diff --git a/vprdb/core/__init__.py b/vprdb/core/__init__.py
index be9a9ff..9277982 100644
--- a/vprdb/core/__init__.py
+++ b/vprdb/core/__init__.py
@@ -11,6 +11,12 @@
 #  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
+"""
+`core` submodule contains a Database class for easy storage and processing of
+color images, depth images and trajectory and their further use for the VPR task.
+
+`VoxelGrid` and `utils` provide various operations on point clouds.
+"""
 from vprdb.core.database import Database
 from vprdb.core.utils import (
     calculate_iou,
diff --git a/vprdb/global_localization/__init__.py b/vprdb/global_localization/__init__.py
index 9290bf1..2fc7bf2 100644
--- a/vprdb/global_localization/__init__.py
+++ b/vprdb/global_localization/__init__.py
@@ -11,4 +11,9 @@
 #  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
+"""
+Pipeline for global localization allows to build matches between two databases using different VPR systems.
+"""
 from vprdb.global_localization.global_localization import GlobalLocalization
+
+__all__ = ["GlobalLocalization"]
diff --git a/vprdb/io/__init__.py b/vprdb/io/__init__.py
index 0536e39..a3d146e 100644
--- a/vprdb/io/__init__.py
+++ b/vprdb/io/__init__.py
@@ -11,5 +11,37 @@
 #  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
+"""
+The `io` submodule allows you to read datasets from the hard disk and export them.
+## Datasets format
+To use the tool, your data must be in a specific format
+* Color images in any format
+* Depth images in 16-bit grayscale format or point clouds in `.pcd` format.
+The depth images must match the color images pixel by pixel (and therefore have the same resolution).
+You should also know the intrinsic parameters of the camera and the depth scale if you use depth images
+* The trajectory containing one pose in each line in `timestamp tx ty tz qx qy qz qw` format.
+Timestamp is an optional argument that is not used in the library
+
+Thus, the tool supports the [TUM](https://cvg.cit.tum.de/data/datasets/rgbd-dataset/file_formats) format for datasets.
+
+The correspondence between poses, depth images, and color images
+is determined based on the order of lines in the trajectory file and the alphabetical order of the files.
+
+Therefore, the structure of the dataset should look like this:
+```
+Example dataset
+├── color
+|   ├── 001.png
+|   ├── 002.png
+|   ├── ...
+├── depth
+|   ├── 001.pcd or 001.png
+|   ├── 002.pcd or 002.png
+|   ├── ...
+└── CameraTrajectory.txt
+```
+The number of color images, depth images (or PCDs) and poses
+in the trajectory file must be the same. The names of folders and the trajectory file are configurable.
+"""
 from vprdb.io.export_utils import export
 from vprdb.io.read_utils import read_dataset_from_depth, read_dataset_from_point_clouds
diff --git a/vprdb/metrics/__init__.py b/vprdb/metrics/__init__.py
index ade1af0..d5daa4e 100644
--- a/vprdb/metrics/__init__.py
+++ b/vprdb/metrics/__init__.py
@@ -11,6 +11,12 @@
 #  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
-from vprdb.metrics.frames_coverage import frames_coverage
-from vprdb.metrics.recall import recall
-from vprdb.metrics.spatial_coverage import spatial_coverage
+"""
+Metrics allow you to evaluate the quality of created databases,
+as well as to estimate the accuracy of various VPR systems.
+"""
+from vprdb.metrics.frames_coverage_ import frames_coverage
+from vprdb.metrics.recall_ import recall
+from vprdb.metrics.spatial_coverage_ import spatial_coverage
+
+__all__ = ["frames_coverage", "recall", "spatial_coverage"]
diff --git a/vprdb/providers/__init__.py b/vprdb/providers/__init__.py
index 18d8a0a..9f192b5 100644
--- a/vprdb/providers/__init__.py
+++ b/vprdb/providers/__init__.py
@@ -11,6 +11,9 @@
 #  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
+"""
+Providers are designed as wrappers over various types of heavy data, to load them into RAM only when needed.
+"""
 from vprdb.providers.color_image_provider import ColorImageProvider
 from vprdb.providers.depth_image_provider import DepthImageProvider
 from vprdb.providers.point_cloud_provider import PointCloudProvider
diff --git a/vprdb/reduction_methods/__init__.py b/vprdb/reduction_methods/__init__.py
index 5b0c0ed..3d17edf 100644
--- a/vprdb/reduction_methods/__init__.py
+++ b/vprdb/reduction_methods/__init__.py
@@ -15,3 +15,5 @@
 from vprdb.reduction_methods.distance_vector import DistanceVector
 from vprdb.reduction_methods.dominating_set import DominatingSet
 from vprdb.reduction_methods.every_nth import EveryNth
+
+__all__ = ["CubeDivision", "DistanceVector", "DominatingSet", "EveryNth"]
diff --git a/vprdb/vpr_systems/__init__.py b/vprdb/vpr_systems/__init__.py
index 4e3880f..3ae2430 100644
--- a/vprdb/vpr_systems/__init__.py
+++ b/vprdb/vpr_systems/__init__.py
@@ -11,6 +11,9 @@
 #  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
+""" The `vpr_systems` contains a set of tools for the VPR task. """
 from vprdb.vpr_systems.cos_place import CosPlace
 from vprdb.vpr_systems.netvlad import NetVLAD
 from vprdb.vpr_systems.superglue import SuperGlue
+
+__all__ = ["CosPlace", "NetVLAD", "SuperGlue"]
diff --git a/vprdb/vpr_systems/cos_place/__init__.py b/vprdb/vpr_systems/cos_place/__init__.py
index 2acf742..5b52196 100644
--- a/vprdb/vpr_systems/cos_place/__init__.py
+++ b/vprdb/vpr_systems/cos_place/__init__.py
@@ -12,3 +12,5 @@
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
 from vprdb.vpr_systems.cos_place.cos_place import CosPlace
+
+__all__ = ["CosPlace"]
diff --git a/vprdb/vpr_systems/netvlad/__init__.py b/vprdb/vpr_systems/netvlad/__init__.py
index 133dd68..e5c05d0 100644
--- a/vprdb/vpr_systems/netvlad/__init__.py
+++ b/vprdb/vpr_systems/netvlad/__init__.py
@@ -12,3 +12,5 @@
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
 from vprdb.vpr_systems.netvlad.netvlad import NetVLAD
+
+__all__ = ["NetVLAD"]
diff --git a/vprdb/vpr_systems/superglue/__init__.py b/vprdb/vpr_systems/superglue/__init__.py
index ff851b4..6bc220e 100644
--- a/vprdb/vpr_systems/superglue/__init__.py
+++ b/vprdb/vpr_systems/superglue/__init__.py
@@ -12,3 +12,5 @@
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
 from vprdb.vpr_systems.superglue.superglue import SuperGlue
+
+__all__ = ["SuperGlue"]

From 045dc31390ae0cd63bf02892ffc52e119b61a8e5 Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Wed, 5 Apr 2023 23:12:55 +0300
Subject: [PATCH 08/16] Fix codestyle in provider files

---
 vprdb/providers/color_image_provider.py | 5 +++--
 vprdb/providers/depth_image_provider.py | 5 +++--
 vprdb/providers/point_cloud_provider.py | 5 +++--
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/vprdb/providers/color_image_provider.py b/vprdb/providers/color_image_provider.py
index 4b0dfbc..4d7218e 100644
--- a/vprdb/providers/color_image_provider.py
+++ b/vprdb/providers/color_image_provider.py
@@ -20,11 +20,12 @@
 
 @dataclass(frozen=True)
 class ColorImageProvider:
-    """ Color image provider is a wrapper for color images """
+    """Color image provider is a wrapper for color images"""
+
     path: Path
     """ Path to file on hard drive"""
 
     @property
     def color_image(self) -> NDArray[Shape["*, *, 3"], UInt8]:
-        """ Returns image in OpenCV format"""
+        """Returns image in OpenCV format"""
         return cv2.imread(str(self.path), cv2.IMREAD_COLOR)
diff --git a/vprdb/providers/depth_image_provider.py b/vprdb/providers/depth_image_provider.py
index 2594291..b36bd9c 100644
--- a/vprdb/providers/depth_image_provider.py
+++ b/vprdb/providers/depth_image_provider.py
@@ -21,7 +21,8 @@
 
 @dataclass(frozen=True)
 class DepthImageProvider:
-    """ Depth image provider is a wrapper for depth images """
+    """Depth image provider is a wrapper for depth images"""
+
     path: Path
     """ Path to file on hard drive """
     intrinsics: NDArray[Shape["3, 3"], Float]
@@ -31,7 +32,7 @@ class DepthImageProvider:
 
     @property
     def point_cloud(self) -> o3d.geometry.PointCloud:
-        """ Returns Open3D point cloud """
+        """Returns Open3D point cloud"""
         depth_image = cv2.imread(str(self.path), cv2.IMREAD_ANYDEPTH)
         height, width = depth_image.shape
         depth_image = o3d.geometry.Image(depth_image)
diff --git a/vprdb/providers/point_cloud_provider.py b/vprdb/providers/point_cloud_provider.py
index 83c41bc..14cacc9 100644
--- a/vprdb/providers/point_cloud_provider.py
+++ b/vprdb/providers/point_cloud_provider.py
@@ -19,11 +19,12 @@
 
 @dataclass(frozen=True)
 class PointCloudProvider:
-    """ Point provider is a wrapper for point clouds """
+    """Point provider is a wrapper for point clouds"""
+
     path: Path
     """ Path to file on hard drive """
 
     @property
     def point_cloud(self) -> o3d.geometry.PointCloud:
-        """ Returns Open3D point cloud """
+        """Returns Open3D point cloud"""
         return o3d.io.read_point_cloud(str(self.path))

From 9831dc3708349850c51ae8d0fd3f0baa4dd468d2 Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Wed, 5 Apr 2023 23:55:11 +0300
Subject: [PATCH 09/16] Workflow for publishing docs

---
 .github/workflows/docs.yml | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100644 .github/workflows/docs.yml

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
new file mode 100644
index 0000000..d7ab879
--- /dev/null
+++ b/.github/workflows/docs.yml
@@ -0,0 +1,32 @@
+name: Docs website
+
+# build the documentation whenever there are new commits on docs
+on:
+  push:
+    branches:
+      - docs
+
+jobs:
+  # Build the documentation and upload the static HTML files as an artifact.
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v3
+        with:
+          python-version: "3.10"
+
+      - run: pip install pdocs
+      - run: pdoc ./vprdb -o ./docs
+
+      - name: Deploy
+        uses: s0/git-publish-subdir-action@develop
+        env:
+          REPO: self
+          BRANCH: gh-pages
+          FOLDER: ./docs
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          TARGET_DIR: ./docs
+          MESSAGE: "Updating the website with documentation"

From 31a1a4c849714b43c40b43d681584b336bab4d5f Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Wed, 5 Apr 2023 23:59:10 +0300
Subject: [PATCH 10/16] Remove typo in pip package name

---
 .github/workflows/docs.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index d7ab879..f4862c3 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -18,7 +18,7 @@ jobs:
         with:
           python-version: "3.10"
 
-      - run: pip install pdocs
+      - run: pip install pdoc
       - run: pdoc ./vprdb -o ./docs
 
       - name: Deploy

From aa1cb1e34c3e277be38ea1edea9aaf1a54b1fe80 Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Thu, 6 Apr 2023 00:01:43 +0300
Subject: [PATCH 11/16] Update install dependencies step for docs workflow

---
 .github/workflows/docs.yml | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index f4862c3..e55426d 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -18,7 +18,12 @@ jobs:
         with:
           python-version: "3.10"
 
-      - run: pip install pdoc
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -r requirements.txt
+          pip install pdoc
+
       - run: pdoc ./vprdb -o ./docs
 
       - name: Deploy

From 233ae41b71d58b123f088d8e7a9b48118a3e669d Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Thu, 6 Apr 2023 15:21:33 +0300
Subject: [PATCH 12/16] new README

---
 README.md | 52 ++++++++++++++++++++++++----------------------------
 1 file changed, 24 insertions(+), 28 deletions(-)

diff --git a/README.md b/README.md
index 3da3f52..4fe1012 100644
--- a/README.md
+++ b/README.md
@@ -1,34 +1,30 @@
 # PlaceRecognitionDB
-PlaceRecognitionDB is a tool for creating optimally sized databases (containing the minimum number of frames covering the scene) for place recognition task from RGBD and LiDAR data.
+[![Lint&Tests](https://github.com/prime-slam/place-recognition-db/actions/workflows/ci.yml/badge.svg)](https://github.com/prime-slam/place-recognition-db/actions/workflows/ci.yml)
+[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
 
-The tool supports several basic methods for creating databases, as well as the DominatingSet method for creating optimal databases.
+PlaceRecognitionDB is a tool for creating optimally sized databases 
+(containing the minimum number of frames covering the scene) for place recognition task from RGBD and LiDAR data.
+
+The tool supports several basic methods for creating databases, 
+as well as the DominatingSet method for creating optimal databases.
+
+The tool also contains a global Localization pipeline with [CosPlace](https://github.com/gmberton/CosPlace) 
+and [NetVLAD](https://github.com/QVPR/Patch-NetVLAD). 
+The models of these neural networks can be fine-tuned for a particular previously created database. 
+The results of global localization can also be improved with [SuperGlue](https://github.com/magicleap/SuperGluePretrainedNetwork).
+
+We have also developed a set of metrics that can be used to evaluate 
+the quality of created databases and the accuracy of VPR systems.
+
+For more, please visit the [PlaceRecognitionDB documentation](https://prime-slam.github.io/place-recognition-db/docs/).
+You can also find full information about our research on the [website](https://prime-slam.github.io/place-recognition-db/).
 
 ## Datasets format
-To use the tool, your data must be in a specific format
-* Color images in any format
-* Depth images in 16-bit grayscale format or point clouds in `.pcd` format. The depth images must match the color images 
-pixel by pixel (and therefore have the same resolution). You should also know the intrinsic parameters of the camera and the depth scale if you use depth images
-* The trajectory containing one pose in each line in `timestamp tx ty tz qx qy qz qw` format. Timestamp is an optional argument that is not used in the library
-
-Thus, the tool supports the [TUM](https://cvg.cit.tum.de/data/datasets/rgbd-dataset/file_formats) format for datasets.
-
-The correspondence between poses, depth images, and color images is determined based on the order of lines in the trajectory file and the alphabetical order of the files.
-
-Therefore, the structure of the dataset should look like this:
-```
-Example dataset
-├── color
-|   ├── 001.png
-|   ├── 002.png
-|   ├── ...
-├── depth
-|   ├── 001.pcd or 001.png
-|   ├── 002.pcd or 002.png
-|   ├── ...
-└── CameraTrajectory.txt
-```
-The number of color images, depth images (or PCDs) and poses 
-in the trajectory file must be the same. The names of folders and the trajectory file are configurable.
+You can find detailed information about the data format used in the tool [here](https://prime-slam.github.io/place-recognition-db/docs/vprdb/io.html#datasets-format).
 
 ## Usage
-Please, check `example.ipynb` with usage example.
+Please check `example.ipynb` with a small example on creating a database.
+
+## License
+This project is licensed under the Apache License — 
+see the [LICENSE](https://github.com/prime-slam/place-recognition-db/blob/master/LICENSE) file for details.

From 2614d2780e513663ff2ed715eacd22d03d2c4f5d Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Thu, 6 Apr 2023 15:40:38 +0300
Subject: [PATCH 13/16] Added master target branch in docs workflow

---
 .github/workflows/docs.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index e55426d..a62414b 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -5,6 +5,7 @@ on:
   push:
     branches:
       - docs
+      - master
 
 jobs:
   # Build the documentation and upload the static HTML files as an artifact.

From b8892f110e38843d93356308a6909916fe5d6550 Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Thu, 6 Apr 2023 18:33:17 +0300
Subject: [PATCH 14/16] update README

---
 README.md | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 4fe1012..814ba11 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,6 @@
 # PlaceRecognitionDB
 [![Lint&Tests](https://github.com/prime-slam/place-recognition-db/actions/workflows/ci.yml/badge.svg)](https://github.com/prime-slam/place-recognition-db/actions/workflows/ci.yml)
+[![Docs](https://github.com/prime-slam/place-recognition-db/actions/workflows/docs.yml/badge.svg)](https://prime-slam.github.io/place-recognition-db/docs/)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
 
 PlaceRecognitionDB is a tool for creating optimally sized databases 
@@ -7,11 +8,14 @@ PlaceRecognitionDB is a tool for creating optimally sized databases
 
 The tool supports several basic methods for creating databases, 
 as well as the DominatingSet method for creating optimal databases.
+A detailed description of all methods for creating databases can be found in our [paper](https://arxiv.org/abs/2303.05123).
 
-The tool also contains a global Localization pipeline with [CosPlace](https://github.com/gmberton/CosPlace) 
+The tool also contains a global localization pipeline with [CosPlace](https://github.com/gmberton/CosPlace) 
 and [NetVLAD](https://github.com/QVPR/Patch-NetVLAD). 
 The models of these neural networks can be fine-tuned for a particular previously created database. 
 The results of global localization can also be improved with [SuperGlue](https://github.com/magicleap/SuperGluePretrainedNetwork).
+More details about the available configurations for global localization and the results 
+are available in the [paper](https://arxiv.org/abs/2303.05123).
 
 We have also developed a set of metrics that can be used to evaluate 
 the quality of created databases and the accuracy of VPR systems.

From 5dbf23b4e60fab2605d9f48c63e33720fa32161f Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Thu, 6 Apr 2023 18:45:05 +0300
Subject: [PATCH 15/16] Fix docstrings

---
 vprdb/core/database.py                           | 4 ++--
 vprdb/global_localization/__init__.py            | 2 +-
 vprdb/global_localization/global_localization.py | 2 +-
 vprdb/io/__init__.py                             | 2 +-
 vprdb/metrics/__init__.py                        | 2 +-
 vprdb/providers/color_image_provider.py          | 2 +-
 vprdb/providers/depth_image_provider.py          | 8 ++++----
 vprdb/providers/point_cloud_provider.py          | 4 ++--
 vprdb/vpr_systems/cos_place/cos_place.py         | 2 +-
 vprdb/vpr_systems/netvlad/netvlad.py             | 2 +-
 vprdb/vpr_systems/superglue/superglue.py         | 2 +-
 11 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/vprdb/core/database.py b/vprdb/core/database.py
index afa1a18..0737d57 100644
--- a/vprdb/core/database.py
+++ b/vprdb/core/database.py
@@ -50,7 +50,7 @@ def from_depth_images(
         trajectory: list[NDArray[Shape["4, 4"], Float]],
     ):
         """
-        The method allows to construct the Database from depth images
+        The method allows to construct the Database from scanning sequence
         :param color_images_paths: List of paths to color images
         :param depth_images_paths: List of paths to depth images
         :param depth_scale: Depth scale for transforming depth image into point clouds
@@ -75,7 +75,7 @@ def from_point_clouds(
         trajectory: list[NDArray[Shape["4, 4"], Float]],
     ):
         """
-        The method allows to construct the Database from point clouds
+        The method allows to construct the Database from point clouds, color images and trajectory
         :param color_images_paths: List of paths to color images
         :param point_clouds_paths: List of paths to point clouds
         :param trajectory: List of camera poses
diff --git a/vprdb/global_localization/__init__.py b/vprdb/global_localization/__init__.py
index 2fc7bf2..4fc4754 100644
--- a/vprdb/global_localization/__init__.py
+++ b/vprdb/global_localization/__init__.py
@@ -12,7 +12,7 @@
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
 """
-Pipeline for global localization allows to build matches between two databases using different VPR systems.
+Pipeline for global localization allows to build matches between database and queries using different VPR systems.
 """
 from vprdb.global_localization.global_localization import GlobalLocalization
 
diff --git a/vprdb/global_localization/global_localization.py b/vprdb/global_localization/global_localization.py
index d635521..3d77f62 100644
--- a/vprdb/global_localization/global_localization.py
+++ b/vprdb/global_localization/global_localization.py
@@ -22,7 +22,7 @@
 
 class GlobalLocalization:
     """
-    Allows you to create a predictor based on a given database
+    Allows to create a predictor based on a given database
     and one of the methods of global localization.
     Results can be improved with SuperGlue.
     """
diff --git a/vprdb/io/__init__.py b/vprdb/io/__init__.py
index a3d146e..6f7320d 100644
--- a/vprdb/io/__init__.py
+++ b/vprdb/io/__init__.py
@@ -12,7 +12,7 @@
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
 """
-The `io` submodule allows you to read datasets from the hard disk and export them.
+The `io` submodule allows to read datasets from the hard disk and export them.
 ## Datasets format
 To use the tool, your data must be in a specific format
 * Color images in any format
diff --git a/vprdb/metrics/__init__.py b/vprdb/metrics/__init__.py
index d5daa4e..a25f83f 100644
--- a/vprdb/metrics/__init__.py
+++ b/vprdb/metrics/__init__.py
@@ -12,7 +12,7 @@
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
 """
-Metrics allow you to evaluate the quality of created databases,
+Metrics allow to evaluate the quality of created databases,
 as well as to estimate the accuracy of various VPR systems.
 """
 from vprdb.metrics.frames_coverage_ import frames_coverage
diff --git a/vprdb/providers/color_image_provider.py b/vprdb/providers/color_image_provider.py
index 4d7218e..86d5174 100644
--- a/vprdb/providers/color_image_provider.py
+++ b/vprdb/providers/color_image_provider.py
@@ -23,7 +23,7 @@ class ColorImageProvider:
     """Color image provider is a wrapper for color images"""
 
     path: Path
-    """ Path to file on hard drive"""
+    """Path to the file on the hard drive"""
 
     @property
     def color_image(self) -> NDArray[Shape["*, *, 3"], UInt8]:
diff --git a/vprdb/providers/depth_image_provider.py b/vprdb/providers/depth_image_provider.py
index b36bd9c..483d899 100644
--- a/vprdb/providers/depth_image_provider.py
+++ b/vprdb/providers/depth_image_provider.py
@@ -24,15 +24,15 @@ class DepthImageProvider:
     """Depth image provider is a wrapper for depth images"""
 
     path: Path
-    """ Path to file on hard drive """
+    """ Path to the file on the hard drive """
     intrinsics: NDArray[Shape["3, 3"], Float]
-    """ Intrinsic camera parameters """
+    """Intrinsic camera parameters"""
     depth_scale: int
-    """ Depth scale for transforming depth """
+    """Depth scale for transforming depth"""
 
     @property
     def point_cloud(self) -> o3d.geometry.PointCloud:
-        """Returns Open3D point cloud"""
+        """Returns Open3D point cloud constructed from depth image"""
         depth_image = cv2.imread(str(self.path), cv2.IMREAD_ANYDEPTH)
         height, width = depth_image.shape
         depth_image = o3d.geometry.Image(depth_image)
diff --git a/vprdb/providers/point_cloud_provider.py b/vprdb/providers/point_cloud_provider.py
index 14cacc9..1b9ab2a 100644
--- a/vprdb/providers/point_cloud_provider.py
+++ b/vprdb/providers/point_cloud_provider.py
@@ -19,10 +19,10 @@
 
 @dataclass(frozen=True)
 class PointCloudProvider:
-    """Point provider is a wrapper for point clouds"""
+    """PointCloudProvider provider is a wrapper for point clouds"""
 
     path: Path
-    """ Path to file on hard drive """
+    """Path to the file on the hard drive"""
 
     @property
     def point_cloud(self) -> o3d.geometry.PointCloud:
diff --git a/vprdb/vpr_systems/cos_place/cos_place.py b/vprdb/vpr_systems/cos_place/cos_place.py
index 5e409fc..16a2b09 100644
--- a/vprdb/vpr_systems/cos_place/cos_place.py
+++ b/vprdb/vpr_systems/cos_place/cos_place.py
@@ -37,7 +37,7 @@
 
 class CosPlace:
     """
-    Realisation of [CosPlace](https://github.com/gmberton/CosPlace) global localization method.
+    Implementation of [CosPlace](https://github.com/gmberton/CosPlace) global localization method.
     """
 
     def __init__(self, backbone: str, fc_output_dim: int, path_to_weights: str):
diff --git a/vprdb/vpr_systems/netvlad/netvlad.py b/vprdb/vpr_systems/netvlad/netvlad.py
index 7a6ad32..856489f 100644
--- a/vprdb/vpr_systems/netvlad/netvlad.py
+++ b/vprdb/vpr_systems/netvlad/netvlad.py
@@ -47,7 +47,7 @@
 
 class NetVLAD:
     """
-    Realisation of [NetVLAD](https://github.com/QVPR/Patch-NetVLAD) global localization method.
+    Implementation of [NetVLAD](https://github.com/QVPR/Patch-NetVLAD) global localization method.
     """
 
     def __init__(
diff --git a/vprdb/vpr_systems/superglue/superglue.py b/vprdb/vpr_systems/superglue/superglue.py
index 73f13cc..45e5af8 100644
--- a/vprdb/vpr_systems/superglue/superglue.py
+++ b/vprdb/vpr_systems/superglue/superglue.py
@@ -54,7 +54,7 @@
 
 class SuperGlue:
     """
-    Realisation of [SuperGlue](https://github.com/magicleap/SuperGluePretrainedNetwork)
+    Implementation of [SuperGlue](https://github.com/magicleap/SuperGluePretrainedNetwork)
     matcher with SuperPoint extractor.
     """
 

From 3c327765f2cff4a3930414074419e9685da84e88 Mon Sep 17 00:00:00 2001
From: vnmsklnk <st086866@student.spbu.ru>
Date: Thu, 6 Apr 2023 18:48:56 +0300
Subject: [PATCH 16/16] Fix codestyle for docstring

---
 vprdb/providers/depth_image_provider.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/vprdb/providers/depth_image_provider.py b/vprdb/providers/depth_image_provider.py
index 483d899..81e67ae 100644
--- a/vprdb/providers/depth_image_provider.py
+++ b/vprdb/providers/depth_image_provider.py
@@ -24,7 +24,7 @@ class DepthImageProvider:
     """Depth image provider is a wrapper for depth images"""
 
     path: Path
-    """ Path to the file on the hard drive """
+    """Path to the file on the hard drive"""
     intrinsics: NDArray[Shape["3, 3"], Float]
     """Intrinsic camera parameters"""
     depth_scale: int