Rest of the todo's:

[SabaAflaki]

Tracker.cpp:530: if(addEntropyMKF ) //add new keyframe //todo (adas) figure how to to limit the number of mkf we add at once. Problem is that we can't tell how long it will take for the mkf to get into the map. Need a smart way of adding a "delay" between additions

Tracker.cpp:2015: if(!isnan(entropyReduction) ) //if non NAN, todo (adas) need to figure out why nan, probably ill conditioned covariance

EntropyComputation.cpp:22: //if (anchorKF.mpParent == trackerKF.mpParent)
//return 0; //todo (adas): do we need this still?

EntropyComputation.cpp:78: TooN::Matrix<2> R = TooN::Identity*((levelScaleSigmaSquared)); //todo (adas): is this the best noise model?

EntropyComputation.cpp:91: //todo (adas): add max/min for the entropy reduction? check for inf, nan, other strange outputs

EntropyComputation.cpp:95: // depthEntropyReduction = 0; //todo (adas) do we need this?