TODO

From MRPT

This page contains a list of pending issues to be implemented in MRPT, hopefully oft updated with its state. If you want to participate with ideas or developing a new feature, please contact me in [1] or in the mailing list.

1 Performance-related issues

• Remove CheckESP in Release for MSVC.
• Remove /GZ (the same that above?)

• CPointsMap:
  • When inserting a laser scan, don't rebuild the entire kd-tree!.

• Embedded ANN library:
  • Modify it to enable a more efficient interactin with MRPT. How?:
    • Alternative interface with data MRPT-alike structures.
    • Enable ADDING new points without rebuilding the whole thing.
    • Tried other ANN libraries -> much slower...

• To add to "mrpt-performance":
  • extractSubmatrixSymmetricalBlocks

• Replace M.multiply_HCHt_scalar -> mrpt::math::multiply_HCHt_scalar

• Check wxWidgets apps with wx2.9.0 in debug to fix all the inconsistencies in the flexsizers.

2 New features

• mrpt-hwdrivers: New class for SICK LMS interface with standard hardware (COM or USB2SER).
  • State: Finished, and tested.

• Better initialization of registerClass'es for ¿external programs? (Reported by Rudan János )

• sharedide/bin/autoexp.dat: Display Debug data en MSVC?

• Data association:
  • Fix NN.
  • Fix JCBB.
  • Integrate into 2D & 6D SLAM.

• 3D views:
  • Allow "click" selection in 3D scenes: compute coordinates in 2D plane from a 2D click.

[1]