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+# CHAD TSDF
+
+CHAD TSDF structure for SLAM
+
+## Description
+
+TODO: link to ros implementation
+
+## Getting Started
+
+<details>
+    <summary>CMake options</summary>
+
+TODO:
+set(CHAD_POPCOUNT_INSTRUCTION std::popcount<uint8_t>)
+set(CHAD_NORM_NEIGH_UPPER 20)
+set(CHAD_NORM_NEIGH_LOWER 2)
+set(CHAD_NORM_MIN_NEIGH 3)
+set(CHAD_NORM_RADIUS_MOD 1.5)
+set(CHAD_LEAF_RESOLUTION 0.1)
+set(CHAD_LEAF_BITS 8)
+</details>
+
+<details>
+    <summary>CMake Build</summary>
+    
+#### 1. CMake local build
+
+```
+cmake -B build
+cmake --build build
+TODO: install
+TODO: CMake find()
+```
+
+#### 2. CMake subdirectory
+
+```cmake
+add_subdirectory(${CHAD_DIRECTORY})
+target_link_libraries(${PROJECT_NAME} PUBLIC chad::tsdf)
+```
+
+#### 3. CMake FetchContent
+
+```cmake
+include(FetchContent)
+FetchContent_Declare(chad_tsdf
+    GIT_REPOSITORY "https://github.com/M2-TE/chad_tsdf.git"
+    GIT_TAG "main"
+    GIT_SHALLOW ON)
+FetchContent_MakeAvailable(chad_tsdf)
+target_link_libraries(${PROJECT_NAME} PUBLIC chad::tsdf)
+```
+</details>
+
+
+## Authors
+
+Jan Kuhlmann
+
+## Version History
+
+* 0.1
+    * Initial Release
+
+## Acknowledgments
+
+* [parallel-hashmap](https://github.com/greg7mdp/parallel-hashmap)