TODO

---
OLF
---

NOW:

DONE:
 + olf_pose_sample()
 + olf_pose_pdf()
 + load_olf()
 + load_pcd()
 + Make OLF (Oriented Local Feature) library



-------------------------------
HYPERSPHERICAL LOCAL LIKELIHOOD
-------------------------------

NOW:

DONE:
 + Add caching to HLL model
 + Make HLL library
 + hll_new()
 + hll_sample()
 


-------
BINGHAM
-------

NOW:
 - Improve dY -> Z lookup via IDW interpolation
 - Check for 0 mixtures in bingham_cluster


SOON:
 - Triangular meshing of S2
 - Speed optimizations
 - Test for memory leaks (continuous operation)


DONE:
 + Recompute normalization constants
 + Remove GSL dependencies (solve, det, inv, eigen_symm)
 + Move bingham_stats_t inside bingham_t and lazy auto compute stats
 + Use bingham_F_lookup_3d() in bingham_new()
 + bingham_mixture_sample()
 + bingham_sample_uniform()
 + pmfrand()
 + Use ACG as proposal distribution in bingham_sample()
 + Angular Central Gaussian sampling and pdf
 + Improve bingham_sample() with rejection sampling
 + bingham_sample()
 + Multivariate normal sampling and pdf
 + Add function "F = bingham_F_lookup_3d(Z)" to bingham_constants.c
 + Improve speed of bingham_discretize()
 + Test speed of bingham_discretize()
 + Test speed of bingham_sample()
 + Cache hypersphere tessellations
 + Fix sample_simplex()
 + Test bingham_sample()
 + Test bingham_pdf()
 + Test bingham_discretize()
 + Use safe_alloc()
 + Fast normalization constant lookup
 + Use graph traversal to avoid saving redundant faces to PLY files.