feat(perception): map vegetation provider labels

2026-08-27 21:53:25 +03:00
parent 92aa796c9d
commit 7594c71dd1
3 changed files with 218 additions and 0 deletions
@@ -0,0 +1,84 @@
+{
+  "schema_version": "missioncore.vegetation-provider-label-map/v1",
+  "profile_id": "lab-v1-vegetation-provider-label-map/v1",
+  "policy_profile_id": "lab-v1-vegetation-mission-policy/v1",
+  "providers": {
+    "goose-fine-64": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "fine",
+      "can_distinguish_low_and_high_grass": true,
+      "can_distinguish_tree_trunk": true,
+      "labels": {
+        "asphalt": "hard_surface",
+        "bikeway": "hard_surface",
+        "cobble": "hard_surface",
+        "sidewalk": "hard_surface",
+        "gravel": "bare_soil",
+        "soil": "bare_soil",
+        "low_grass": "grass",
+        "high_grass": "herbaceous_vegetation",
+        "moss": "herbaceous_vegetation",
+        "crops": "cultivated_vegetation",
+        "bush": "woody_shrub",
+        "hedge": "woody_shrub",
+        "tree_trunk": "tree_or_trunk",
+        "tree_root": "tree_or_trunk",
+        "forest": "vegetation_unknown",
+        "leaves": "vegetation_unknown",
+        "scenery_vegetation": "vegetation_unknown",
+        "tree_crown": "vegetation_unknown"
+      }
+    },
+    "goose-category-12": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "coarse",
+      "can_distinguish_low_and_high_grass": false,
+      "can_distinguish_tree_trunk": false,
+      "labels": {
+        "artificial_ground": "hard_surface",
+        "vegetation": "vegetation_unknown"
+      }
+    },
+    "wildscenes-19": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "medium",
+      "can_distinguish_low_and_high_grass": false,
+      "can_distinguish_tree_trunk": true,
+      "labels": {
+        "asphalt/concrete": "hard_surface",
+        "dirt": "bare_soil",
+        "gravel": "bare_soil",
+        "grass": "grass",
+        "bush": "woody_shrub",
+        "tree-trunk": "tree_or_trunk",
+        "tree-foliage": "vegetation_unknown"
+      }
+    },
+    "rellis-20": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "medium",
+      "can_distinguish_low_and_high_grass": false,
+      "can_distinguish_tree_trunk": false,
+      "labels": {
+        "asphalt": "hard_surface",
+        "concrete": "hard_surface",
+        "grass": "grass",
+        "bush": "woody_shrub",
+        "tree": "tree_or_trunk"
+      }
+    },
+    "orfd-binary-freespace": {
+      "unmapped_policy": "no-material-claim",
+      "class_granularity": "binary-geometry-only",
+      "can_distinguish_low_and_high_grass": false,
+      "can_distinguish_tree_trunk": false,
+      "labels": {}
+    }
+  },
+  "invariants": {
+    "unmapped_label_means_free": false,
+    "coarse_vegetation_means_grass": false,
+    "binary_freespace_selects_material": false,
+    "provider_label_grants_actuation": false
+  }
+}