DistributedFactorGraphs.jl

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Upstream BiDictMap to DataStructures.jl?

2

This is most useful when trying to make LightGraphs SimpleGraph using Symbol labels, so perhaps `BiDictMap` should be a feature of their upstream DataStructures.jl so that we can just use...

dehann

Prototype here: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/blob/4d2238f78dde39a538817928d3e0798d894b05e5/src/services/AbstractDFG.jl#L1055 LightDFG already has an implementation: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/blob/4d2238f78dde39a538817928d3e0798d894b05e5/src/LightDFG/services/LightDFG.jl#L364-L414

dehann

Should we deprecate lsfWho in favor of just lsf

2

_From PR discussion: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/pull/705#discussion_r540034178_ > new name is: > 'lsfTypes(fg, LinearRelative)' > @dehann There is no function like that. > Only lsfTypes(dfg) -> Return `Vector{Symbol}` of all unique factor types...

Affie

how to create factors between variables from different sessions/robots

1

cc @GearsAD

dehann

This error came up with IIF and `dbg` on with subgraph save. Haven't looked at it, just logging. ```julia BoundsError: attempt to access 0-element Array{UInt8,1} at index [115] setindex! at...

Affie

enhance and test getVariableLabelNumber

2

see function introduced in #486

dehann

Deprecated subgraph functions in CGDFG

3

https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/blob/eaea68c09d712532a2ad73338b0298da43e0e37a/src/CloudGraphsDFG/services/CloudGraphsDFG.jl#L465-L492 see - https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/pull/373 - https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/issues/300 - https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/pull/376

Affie

Allow both string/symbol and `MIME"image/png"` usage formats, or at least figure out a sensible way for these features to be combined.

dehann

Write variable+factor data in native formats

1

That is: - Timestamps as DateTime UTC - Tags as array of strings - Everything else as first-class properties

GearsAD

compare, == ,and isapprox, verbose output, skip

2

Taking up ideas from #309 Dumping some ideas I wrote down a while ago: - `==` equality - `≈ `/`isapprox` - Inexact equality - `compare` - flexible - eg. compareDFG(a,...

Affie