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corot / world_canvas

ROS framework for storing and accessing semantic information about the world, with an initial emphasis on needs and use cases for mobile robots.
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Strictly decoupling annotation and data #2

Closed stonier closed 10 years ago

stonier commented 10 years ago

Door is a good example.

1) A door can be basic 'door properties' i.e. dimension, mesh, handle location, handle type.

2) Door with approach point data etc.

In 1), all the information about the door in the context of the world is in the annotation. it's pose, approach point connections etc. i.e. Strongly decoupled annotation and data. You can have 1 door data object, and 20 annotations (instances) of that door.

In 2) it is basically a 1-1 relationship. Weakly coupled annotation and data. Each annotation is basically just a pointer to data.

stonier commented 10 years ago

This is the same concept being discussed in #1.