Initial Development Roadmap

DFG Dev Roadmap

• Satisfy IIF solver requirements, v0.7.x/v0.8.x
  • Part 1: Solving graph efficiently local or cloud with one shared interface
    • In-memory implementation of common interface using skeleton variables and factors
      • Implementation
      • Standardized test for an implementation of the interface
      • Documentation of methods and usage
    • Visualization extensions for viewing factor graphs (copy from IIF)
    • Definition of a common DFGVariable and DFGFactor for all our applications
      • What is first-class citizen of DFGVariable? (e.g. label, tags, keyed estimates, timestamp)
      • What is used by solver and should optionally be pulled? (e.g. VariableNodeData)
      • What is used by users but is only pulled on demand? (e.g. smalldata, bigdata)
    • Updating IIF to use shared interface
    • Validation of changes
  • Part 2: Extension of interface for big data and small data
  • Part 3: Arena example
  • More general separation of concerns
• Also remember mirroring.

Fundamental Data elements in DFG objects

https://github.com/JuliaRobotics/Caesar.jl/wiki/Data-Design-for-Caesar-RoME-IIF

Keep in mind payload definitions

Graff or ZMQ:

• https://github.com/JuliaRobotics/Caesar.jl/tree/feature/echograms/src/schema/r0