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DFG integration roadmap IIF v0.6 0.8

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dehann edited this page Apr 16, 2019 · 3 revisions

Current version IIF 0.5.5 (April 2019)

  • IIF v0.6.x will be tree based initialization, marginalization, etc.
  • IIF v0.7.x is first integration of DFG, hack this hack that.
    • This will be an in-memory version, but will have a well defined interface that we can use to replace IIF code
  • IIF v0.8.x fix all the issues and API in welding old IIF with DFG to get the desired behavior.
    • We should have the cloud versions of the interface and Terminus (mirror local/cloud) should be available

DFG Dev Roadmap

  • Satisfy IIF solver requirements
    • now solve graph efficiently local or cloud,
    • how to push solve results back?
  • Next, small data, big data.
  • 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:

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