inFuse

h1. Discussion on DFNs interfaces and integration

This page is a discussion to fix once and for all the interfaces and the way DFNs are going to be release inside the InFuse repo. I'll develop the example of DEM as it is the only DFPC that is "ready" at the moment. But I'm pretty sure that this can be generalized easily. For a reminder, the different DFNs of the DEM building DFPC can be found "here":https://drive.google.com/drive/u/1/folders/0B-snyoPgDrt5QmNlT0NOOUpsdHM (diagram DFPC_DEM_BUILDING.html).

So the DEM DFPCs contains 3 DFNs:

* PcTransform to transform the point cloud from sensor frame to world frame

* Rasterizer to project the cloud on a cartesian grid

* MapFuser to fuse it into our internal grid

Rasterizer and MapFuser are relevant basically ONLY to the DEM DFPCs, while PcTransform is a more generic DFN that could be used by any other DFPC. Here is the current state of the implementation:

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!Libraries.png!