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Parametric Solve Whiteboard
dehann edited this page Feb 12, 2020
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Parametric solving is currently under development, with initial linear or low dimensional PoC starting to work (4Q2019).
Next steps are:
- Consolidate Tree messages and message channels with non-parametric;
- (#467) Consolidate factor definitions with existing factor residual functions (i.e. drop "ParametricFactor" definitions);
- Calculate the covariance of each clique to ensure Gaussian belief propagation can be performed;
- Expand to manifolds and mixed manifolds;
- Integrate parametric solution alongside non-parametric solution through common API and defaults.