Kirk MacTavish

Sparse descriptors are stored as binary vectors. This makes large vocabularies (100k words) intractable. It also makes FAB-MAP 2.0's computational complexity dependent on vocabulary size. Oxford stores BOW descriptors as...

Create unit tests.

3

I've started using the [Catch](https://github.com/philsquared/Catch) unit testing framework. I'll add it in an upcoming pull request, but we should think about what unit tests would be beneficial for FabMap.

Doxygen documentation.

1

It would be nice to have the code (at least the public API) documented with Doxygen. This work is in progress (will come across in a later pull request).

This issue discusses the generator inference function [`FabMap::PeqGL`](https://github.com/arrenglover/openfabmap/blob/38ca0f22d8096a768b685242e5d8938327207a93/src/fabmap.cpp#L411-421). This function behaves as expected when in Naive Bayes mode, but `Lzpq` should be used in the inference when in Chow Liu...

No place merging: a place is one image.

3

When a loop closure is detected, the generator likelihoods for that place should be updated with the newest measurement. What currently happens: - The matched image is just not added...

- [ ] Transform composition, inverse, 'division', etc. - [ ] Rotation ". - [ ] Transforming points. - [ ] Using covariances.

- [ ] `Transformation * TransformationWithCovariance` should have the same return type as `TransformationWithCovariance * Transformation`. - [ ] There should be a `RotationWithCovariance`. - [ ] Think about how...

We really should change functions that accept `const Eigen::Type &` to use `const Eigen::Ref&` as recommended by [Eigen documentation](http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html). This unifies `Eigen::Matrix` and `Eigen::Map`, to avoid an additional copy.