Updated readme, finishing doc

README.md

@@ -7,12 +7,20 @@ Structured light scanner is a tool to reconstruct point cloud from series of ima
 
 In this version, the reconstruction process is reimplemented both on CPU and GPU. Both versions accelerate the reconstruction time. Especially the later one. 
 
+
 ## Dependencies
 * OpenCV2
 * CUDA (6.0+)
 * glm
 
 ## Howto
+### How it works
+
+The main building blocks of the libraries are `ImageProcessor` and `Reconstructor`. Image processors take images, projector parameters and camera calibration parameters as input and produce `Buckets`. `Reconstructor` combines all the Buckets to generate the point cloud.  
+![Alt text](https://cdn.rawgit.com/theICTlab/3DUNDERWORLD-SLS-GPU_CPU/dev/doc/how-it-works.svg)
+
+
+
 ### Compile and run demo binaries
 Demo binaries and data is included.  A CMake script is included to compile the binaries and libraries. 
 ```bash

src/app/App.cpp

@@ -49,9 +49,13 @@ int main(int argc, char** argv)
     rightCamProcessor.loadConfig(rightConfigFile);
     leftCamProcessor.loadConfig(leftConfigFile);
 
+    // Construct a projector parameter provider
     SLS::Projector proj(p.get<size_t>("width"),p.get<size_t>("height"));
 
-    // Generate reconstruction buckets from image processors
+    // Generate reconstruction buckets from image processors.
+    // generateBuckets function requires parameter extracted from the `Projector` object,
+    // namely projector width, height and number of frames required to reconstruct with the 
+    // projected patterns.
     std::vector<SLS::Buckets> bucketsVec
     {
         rightCamProcessor.generateBuckets(proj.getWidth(), proj.getHeight(), proj.getRequiredNumFrames()),

src/lib/core/ImageProcessor.h

@@ -26,7 +26,11 @@
 #include "Ray.h"
 
 namespace SLS {
-/*! Base class of camera
+
+using Bucket = std::vector<Ray>;
+using Buckets = std::vector<Bucket>;
+
+/*! Base class of image processor
  *
  * The camera defined here is a specific image input device for reconstruction
  * which includes the full acquisition pipeline.
@@ -53,10 +57,6 @@ namespace SLS {
  * parameters.
  *
  */
-
-using Bucket = std::vector<Ray>;
-using Buckets = std::vector<Bucket>;
-
 class ImageProcessor {
 protected:
     // Name of camera