Changing radar factor to use a correct serialization strategy

[GearsAD]

No description provided.

[dehann]

Just to help string together all the different image encoding methods -- here is a binary store via png (ImageMagick.jl):
https://juliarobotics.org/Caesar.jl/latest/concepts/interacting_fgs/#Adding-Data-Blobs

I also created this in Caesar.jl

Caesar.jl/src/images/imagedata.jl

Line 26 in 7ec2d11

function fetchDataImage(dfg::AbstractDFG,

[dehann]

This should be much easier to do now the the new CalcFactor metadata approach:
https://juliarobotics.org/Caesar.jl/latest/examples/basic_definingfactors/#Metadata

[dehann]

Now that residual functions use CalcFactor we have a much better way of handling meta / additional data for problems like these. Will update accordingly

[dehann]

I'd like to update this to use data blobs and the new approach, we just overload for the factor:

# for overloading
import IncrementalInference: preambleCache

function IIF.preambleCache(dfg::AbstractDFG, vars::AbstractVector{<:DFGVariable}, fct::ScatterAlignPose2)
  # load image from blog store
  #   see https://juliarobotics.org/Caesar.jl/latest/concepts/entry_data/#Retrieving-a-Data-Blob
  img1 = fetchData(dfg, getLabel(vars[1]), :image_store, :radar_sweep) 

  # lazy approach is just to have `typeof(CalcFactor{<:ScatterAlignPose2})` be `NamedTuple{(:img1,:img2),Tuple{Matrix{Gray{...}}, Matrix{Gray{...}}}`
  return (;img1, img2)
end

So then in the samping and residual functions, you can just do:

function (sap::CalcFactor{<:ScatterAlignPose2})(wPi, wPj)
  img1 = sap.cache.img1
  img2 = sap.cache.img2
  # ...
end

[dehann]

Replaced by much improved ScatterAlignPose2, and standardized serialization in:

• Standardize SAP serialization (& stashing), testing, and SDK integration #851

Closing this for now, but will keep the branch in case we revive AlignRadarPose2 in the future

[dehann]

Replaced by much improved ScatterAlignPose2, and standardized serialization in:

• Standardize SAP serialization (& stashing), testing, and SDK integration #851

Closing this for now, but will keep the branch in case we revive AlignRadarPose2 in the future