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Standardize more types, filters, and more cleanup (#1163)
Jul 16, 2025
3201b6c · Jul 16, 2025

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NEWS.md

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Listing news on any major breaking changes in DFG. For regular changes, see integrated Github.com project milestones for DFG.

v0.28

  • Reading or deserialzing of factor graphs created prior to v0.25 are no longer suppoted with the complete removal of User/Robot/Session
  • Deprecated AbstractRelativeMinimize and AbstractManifoldsMinimize
  • Rename VariableState -> State

Abstract Types Standardized, see #1153:

  • AbstractParams -> [Abstract]DFGParams
  • DFGNode -> [Abstract]GraphNode
  • AbstractDFGVariable -> [Abstract]GraphVariable
  • AbstractDFGFactor -> [Abstract]GraphFactor
  • AbstractPackedFactorObservation -> [Abstract]PackedObservation
  • AbstractFactorObservation -> [Abstract]Observation
  • AbstractPrior -> [Abstract]PriorObservation
  • AbstractRelative -> [Abstract]RelativeObservation
  • FactorSolverCache -> [Abstract]FactorCache
  • VariableStateType -> [Abstract]StateType

v0.27

  • delete returns number of nodes deleted and no longer the object that was deleted.
  • Deprecate updateVariable! for mergeVariable!, note merege returns number of nodes updated/added.
  • Deprecate updateFactor! for mergeFactor!, note merege returns number of nodes updated/added.
  • Rename BlobEntry to Blobentry, see #1123.
  • Rename BlobStore to Blobstore, see #1124.
  • Refactor the Factor solver data structure, see #1127:
    • Deprecated GenericFunctionNodeData, PackedFunctionNodeData, FunctionNodeData, and all functions related factor.solverData.
    • Replaced by 3 seperete types: Observation, State, and Cache
    • This is used internally be the solver and should not affect the average user of DFG.
    • Rename FactorOperationalMemory -> FactorSolverCache
    • Rename AbstractFactor -> AbstractFactorObservation (keeping both around)
  • Deprecate VariableNodeData -> VariableState
  • Deprecate getVariableSolverData -> getVariableState
  • Deprecate addVariableSolverData! -> addVariableState!
  • Deprecate deleteVariableSolverData! -> deleteVariableState!
  • Deprecate listVariableSolverData -> listVariableStates
  • Deprecate getVariableSolverDataAll -> getVariableStates
  • Deprecate getSolverData -> getVariableState/getFactorState
  • Deprecate getBlobentryFirst -> getfirstBlobentry, see #1114
  • OrderedDict is no longer exported
  • FolderStore path now includes the store label.
  • Standardized error types and behaviour.

v0.26

  • Graph structure plotting now uses GraphMakie.jl instead of GraphPlot.jl. Update by replacing using GraphPlot with using GraphMakie.

v0.25

  • Deprecated nouns: SessionBlobEntry -> GraphBlobEntry RobotBlobEntry -> AgentBlobEntry UserBlobEntry -> AgentBlobEntry RobotData -> AgentMetadata SessionData -> GraphMetadata UserLabel -> AgentLabel RobotLabel -> AgentLabel SessionLabel -> GraphLabel

Variables and Factors are renamed and aliased to the old names, see #1109.

  • Factor-level noun-adjectives SkeletonDFGFactor -> FactorSkeleton DFGFactorSummary -> FactorSummary DFGFactor -> FactorCompute PackedFactor/Factor -> FactorDFG

  • Variable-level noun-adjectives SkeletonDFGVariable -> VariableSkeleton DFGVariableSummary -> VariableSummary DFGVariable -> VariableCompute PackedVariable/Variable -> VariableDFG

  • v0.24 FileDFGs can be loaded with v0.25 with the exception of the User[Label/Data/BlobEntries]

v0.24

  • Remove FolderStore .dat legacy extension. To upgrade a legacy FolderStore remove extention with something like: foreach(f->mv(f,split(f,".")[1]), files)

v0.23

  • save/loadDFG now users Tar.jl and CodecZlib.jl #351.
  • save/loadDFG now preserves meta fields #921.
  • Deprecate getNeighbors for listNeighbors.
  • Dropped AbstractRelativeRoots.

v0.20

  • Throw KeyError if getBlobEntry is not found, previously was ErrorException.
  • Change return type on addData! convenience wrappers to only return new BlobEntry.
  • Fix addBlob! calls for FolderStore and InMemoryBlobStore to use BlobEntry.originId and not previous bug entry.id.
  • Close long running serialization redo (#590) using only JSON3.jl and StructTypes.jl going forward.
  • Standardize BlobEntry=>Blob naming of functions, and keeping convenience wrappers {get,add,update,delete}Data[!].
  • Consolidate to only one BlobEntry definition, dropping use of AbstractBlobEntry.
  • Include type field VariableNodeData.covar.
  • Drop minimum Julia compat to 1.8.

v0.19

  • Add ids and metadata to data types.
  • Use Base.@kwdef on stuct types for default values and serialization.
  • Dropped dependency on Unmarshal.jl.
  • Note src/Serialization.jl was refactored and currently contains lots of legacy code for DFG v0.18 compat, and much will be deleted in DFG v0.20 to standardize serialization around JSON3.jl, see #590.
  • Neo4jDFG has been removed.
  • LightDFG has been removed, and GraphsDFG is not the standard in-memory driver for alias LocalDFG.
  • Standardize all timestamp fields to ZonedDateTime from previous DateTime so that time zones will always be available.
  • internal getDFGVersion() function now returns a ::VersionNumber.
  • Use userLabel, robotLabel, sessionLabel instead of legacy userId, robotId, sessionId.

v0.18.0

  • Unpack of GenericFactorNodeData with reconstrFactorData now gets dfg::AbstractDFG and varOrder::Vector{Symbol}, deprecating previous use of convert without the graph context (#832).
  • Switch to GraphsDFG, deprecating archived LightGraphs.jl (#826).
  • Workaround: packed factor data .fnc encoded as base64 to avoid escape character problems (#834).
  • Towards distributions serialized via JSON, getting away from custom strings (#848).
  • LocalDFG replaces DefaultDFG (#844).
  • Optimized creation of CGDFG / createDfgSessionIfNotExist (#839, #815).
  • plotDFG replaces dfgplot (#841, #844).
  • Neo4jDFG replaces CloudGraphsDFG (#836).

v0.16.0

  • {Packed}VariableNodeData.infoPerCoord::Vector{Float64} replaces previous .inferdim::Float64. The change should have legacy support to help facilitate the transition. This datastore is likely to only become part of critical computations downstream in IncrementalInference.jl v0.26, even though the previous .inferdim data values are being populated there. (#804)