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High Level Requirements
Johannes Terblanche edited this page Apr 16, 2022
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Copyright 2022, NavAbility, All rights reserved.
- Avoid the Gaussian-only road: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/535
- Avoid OO Polymorphic only patterns: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/157#issuecomment-672813937
- Signature cross feeding / symmetry: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/264#issue-552973135
- Serialization and Marshaling: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/590
- highly multithreaded and performant (TBD on which issue comments to link)
- SuiteSparse as conditional dependency only https://github.com/JuliaRobotics/IncrementalInference.jl/issues/793#issue-660607972
- Consolidate / Simplify factor evaluation (CalcFactor) https://github.com/JuliaRobotics/IncrementalInference.jl/issues/467
- CSM and ParametricCSM should be interchangeable https://github.com/JuliaRobotics/IncrementalInference.jl/issues/558#issuecomment-672817293
- First state machine tree init (single core) https://github.com/JuliaRobotics/IncrementalInference.jl/pull/273#issue-276427786
- Finalize state for CSM loggers https://github.com/JuliaRobotics/IncrementalInference.jl/issues/321#issue-456712286
- consolidate solver debug output in randomized per solve output folder https://github.com/JuliaRobotics/IncrementalInference.jl/issues/338#issue-462812054 # should be a sub-bullet here somewhere
- Documenting CSM and inference steps for debugging https://github.com/JuliaRobotics/IncrementalInference.jl/issues/443#issue-526256697
- Transition to LightDFG as default(now renamed Graphs.jl) https://github.com/JuliaRobotics/IncrementalInference.jl/issues/364#issuecomment-529899343
- Consolidate belief messages and message channels https://github.com/JuliaRobotics/IncrementalInference.jl/issues/459#issue-529964851
- solve multiple orphaned graphs https://github.com/JuliaRobotics/IncrementalInference.jl/issues/518#issue-545466369
- revamp common SLAM frontend processor https://github.com/JuliaRobotics/Caesar.jl/issues/527#issue-574164820
- new on Dead Reckon Tether https://github.com/JuliaRobotics/Caesar.jl/issues/433#issue-527790188
- some use-cases want autoinit to be a separate process https://github.com/JuliaRobotics/IncrementalInference.jl/issues/229 # should be sub-bullet under tree init
- ROS Integration https://github.com/JuliaRobotics/Caesar.jl/issues/227
- How to provide non-Gaussian with vanilla ROS msgs https://github.com/JuliaRobotics/Caesar.jl/issues/395#issue-506069860
- Snap package install https://github.com/JuliaRobotics/Caesar.jl/issues/278#issue-419596576
- Compile Static .so libraries for multi-language or executable use https://github.com/JuliaRobotics/Caesar.jl/issues/210
- Managing MIME types for bigData storage https://github.com/JuliaRobotics/Caesar.jl/issues/274#issue-419242832
- Generic N-ary multihypothesis (bad-init nullhypo addition) https://github.com/JuliaRobotics/IncrementalInference.jl/issues/248#issue-428326229
- How to use the multi-hypothesis feature https://github.com/JuliaRobotics/Caesar.jl/issues/141#issuecomment-405422791
- Standardize null hypothesis in addFactor! https://github.com/JuliaRobotics/IncrementalInference.jl/issues/237#issue-424046072
- Federated tree solve requires easily separated up and down solves https://github.com/JuliaRobotics/IncrementalInference.jl/issues/307
- Feature Request: Solver Progress https://github.com/JuliaRobotics/IncrementalInference.jl/issues/224#issue-411962043
- getBestPointVal(fg, :x13), when to use max, mean, or on manifold moment https://github.com/JuliaRobotics/IncrementalInference.jl/issues/214#issue-409531374
- Ability to give drawGraph a file name https://github.com/JuliaRobotics/IncrementalInference.jl/issues/118#issue-342868429
- Allow for more flexible node names https://github.com/JuliaRobotics/IncrementalInference.jl/issues/165#issue-365003669
- Integrate with Manifolds.jl https://github.com/JuliaRobotics/RoME.jl/issues/244
- allow partial factors (TBD which issue comment to use)
- https://github.com/JuliaRobotics/IncrementalInference.jl/issues/783#issue-659285005
- https://github.com/JuliaRobotics/RoME.jl/issues/62#issuecomment-464063851 # must find better format and placement
- RoME Running on ARM: https://github.com/JuliaRobotics/RoME.jl/issues/35
- DFGFactor is immutable
- One API for residual factors: https://github.com/JuliaRobotics/IncrementalInference.jl/issues/467#issuecomment-770261263
- Factors default to
.Z: https://github.com/JuliaRobotics/IncrementalInference.jl/pull/1439#issuecomment-961107369 - What Manifold data formats (coords / tangents / points): https://github.com/JuliaRobotics/RoME.jl/issues/465
- Deconv requires
<:AbstractRelativemeasurements to be tangents: https://github.com/JuliaRobotics/IncrementalInference.jl/pull/1380#issue-992398675 - Factors return tangent at p: https://github.com/JuliaRobotics/IncrementalInference.jl/pull/1292#issue-936927602
- Deferring a LazyManifoldsWrapper: https://github.com/JuliaRobotics/RoME.jl/issues/450#issuecomment-944452280
- Deconv requires
- Factor design for Manifolds.jl integration: https://github.com/JuliaRobotics/RoME.jl/issues/465
- Partial factor manifold definition: https://github.com/JuliaRobotics/RoME.jl/pull/495/files#r695912751
- Method for partial manifold definition not yet finalized, see https://github.com/JuliaRobotics/Caesar.jl#726
- "wrong factor reductions": https://github.com/JuliaRobotics/IncrementalInference.jl/issues/1507#issuecomment-1081087381
- CalcFactor.cache design, in-place or in-line: https://github.com/JuliaRobotics/RoME.jl/pull/562#issuecomment-1076405636
Will cleanup and expand as time goes on.