JuliaRobotics / IncrementalInference.jl
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@@ -62,6 +62,8 @@
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  $(SIGNATURES)
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After deserializing a factor using decodePackedType, use this to
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completely rebuild the factor's CCW and user data.
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Dev Notes:
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- TODO: We should only really do this in-memory if we can by without it (review this).
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"""
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function rebuildFactorMetadata!(dfg::AbstractDFG{SolverParams}, 
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                                factor::DFGFactor,
@@ -97,12 +99,16 @@
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    #
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    # replace old factor in dfg with a new one
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    deleteFactor!(dfg, factor)
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    deleteFactor!(dfg, factor, suppressGetFactor=true)
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    addFactor!(dfg, factor__)
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    factor__
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  else
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    setSolverData!(factor, fnd_new)
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    # We're not updating here because we don't want
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    # to solve cloud in loop, we want to make sure this flow works:
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    # Pull big cloud graph into local -> solve local -> push back into cloud.
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    # updateFactor!(dfg, factor)
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    factor
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  end
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Files Coverage
src 77.31%
Project Totals (67 files) 77.31%
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