feat(observatory): add portable calculation profiles
This commit is contained in:
DCCONSTRUCTIONS
@@ -4,8 +4,8 @@
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@@ -32,9 +32,9 @@
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@@ -145,8 +145,85 @@
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"point-cloud",
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"trajectory",
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"video"
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@@ -0,0 +1,292 @@
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"state": "implemented"
|
||||
},
|
||||
{
|
||||
"phase_id": "result-v2-assembler",
|
||||
"state": "missing"
|
||||
},
|
||||
{
|
||||
"phase_id": "observatory-result-publisher",
|
||||
"state": "missing"
|
||||
}
|
||||
],
|
||||
"blockers": [
|
||||
"executor-release-unsealed",
|
||||
"portable-camera-lidar-timeline-unimplemented",
|
||||
"portable-result-assembler-unimplemented",
|
||||
"portable-source-delivery-unimplemented",
|
||||
"portable-tgs-input-unimplemented",
|
||||
"portable-tgs-runner-unsealed",
|
||||
"result-publisher-integration-unaccepted"
|
||||
],
|
||||
"authority": {
|
||||
"commands_enabled": false,
|
||||
"actuation_allowed": false,
|
||||
"navigation_or_safety_accepted": false,
|
||||
"production_accepted": false
|
||||
},
|
||||
"candidate_sha256": "e2085c25e45a46de58f693d1128914dc25febbe18a28341cdf57c79f3472f180"
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,162 @@
|
||||
{
|
||||
"schema_version": "missioncore.lab-v1-eomt-ddrnet-portable-profile/v2",
|
||||
"profile_id": "lab-v1-eomt-ddrnet-portable-v2",
|
||||
"lab_id": "LAB-V1",
|
||||
"worker_id": "worker-006",
|
||||
"source_binding": {
|
||||
"mode": "admitted-k1-recording",
|
||||
"camera_source_id": "sensor.camera.right",
|
||||
"camera_timeline": "dynamic",
|
||||
"filesystem_paths": "executor-resolved",
|
||||
"expected_width": 800,
|
||||
"expected_height": 600,
|
||||
"expected_frame_count": "source-derived",
|
||||
"frame_indices": "source-derived-representative",
|
||||
"crop_contract": "center-600-square-to-512; outside-crop-is-undefined"
|
||||
},
|
||||
"effective_config_contract": {
|
||||
"schema_version": "missioncore.lab-v1-goose-vegetation-benchmark/v1",
|
||||
"dynamic_field": "ravnoves",
|
||||
"source_id": "sealed-source-derived",
|
||||
"source_sha256": "sealed-camera-input-derived",
|
||||
"base_m4_result_id": null
|
||||
},
|
||||
"runtime": {
|
||||
"super_gradients_version": "3.2.0",
|
||||
"super_gradients_revision": "54d062ecb1081944a672ce447cf3e96a36708ff9",
|
||||
"python_version": "3.9",
|
||||
"numpy_version": "1.23.0",
|
||||
"cmake_version": "3.31.6",
|
||||
"onnxsim_version": "0.4.36",
|
||||
"opencv_python_version": "4.8.1.78",
|
||||
"pytorch_version": "1.13.1",
|
||||
"torchvision_version": "0.14.1",
|
||||
"pytorch_cuda_version": "11.7",
|
||||
"container_base": "nvidia/cuda:12.8.1-cudnn-devel-ubuntu22.04@sha256:ad6d59a3bbf3e82c1c849c9ac09cfc2a3e0bbb8655042fd899be6681b3fe2a85",
|
||||
"miniconda_installer": "Miniconda3-py39_24.11.1-0-Linux-x86_64.sh",
|
||||
"miniconda_installer_sha256": "3ea8373098d72140e08aac9217822b047ec094eb457e7f73945af7c6f68bf6f5"
|
||||
},
|
||||
"dataset": {
|
||||
"dataset_id": "goose-2d-validation-visible-rgb",
|
||||
"relative_root": "goose-2d/validation",
|
||||
"mapping_relative_path": "goose_label_mapping.csv",
|
||||
"mapping_sha256": "88ae319ba5a3877dd3ae0773f693a6a5fdc283934140de9dfaff029108aefd7f",
|
||||
"image_glob": "images/val/**/*_windshield_vis.png",
|
||||
"expected_pair_count": 962,
|
||||
"input_size": [
|
||||
512,
|
||||
512
|
||||
],
|
||||
"preprocessing": [
|
||||
"center-square-crop",
|
||||
"nearest-neighbor-resize",
|
||||
"rgb-to-tensor-0-1"
|
||||
]
|
||||
},
|
||||
"candidates": {
|
||||
"ddrnet": {
|
||||
"candidate_id": "goose-ddrnet-class-512",
|
||||
"model_names": [
|
||||
"ddrnet_39"
|
||||
],
|
||||
"checkpoint_relative_path": "models/goose/ddrnet_class_512.pth",
|
||||
"checkpoint_size_bytes": 259419077,
|
||||
"checkpoint_sha256": "b99c2838051bcd7b092fd3970aa62a77d5c0bbb809c9b9afb2ff4b0ebdaa4ee6",
|
||||
"published_validation_miou_percent": 46.53
|
||||
}
|
||||
},
|
||||
"vegetation_class_names": [
|
||||
"leaves",
|
||||
"forest",
|
||||
"bush",
|
||||
"moss",
|
||||
"tree_crown",
|
||||
"tree_trunk",
|
||||
"crops",
|
||||
"low_grass",
|
||||
"high_grass",
|
||||
"scenery_vegetation",
|
||||
"hedge",
|
||||
"tree_root"
|
||||
],
|
||||
"visual_case_contract": {
|
||||
"selection_basis": "ground-truth-class-support-only",
|
||||
"case_count": 12,
|
||||
"minimum_focus_pixels": 2048,
|
||||
"strata": [
|
||||
{
|
||||
"class_name": "high_grass",
|
||||
"count": 2
|
||||
},
|
||||
{
|
||||
"class_name": "low_grass",
|
||||
"count": 2
|
||||
},
|
||||
{
|
||||
"class_name": "bush",
|
||||
"count": 2
|
||||
},
|
||||
{
|
||||
"class_name": "tree_trunk",
|
||||
"count": 2
|
||||
},
|
||||
{
|
||||
"class_name": "tree_crown",
|
||||
"count": 1
|
||||
},
|
||||
{
|
||||
"class_name": "hedge",
|
||||
"count": 1
|
||||
},
|
||||
{
|
||||
"class_name": "forest",
|
||||
"count": 1
|
||||
},
|
||||
{
|
||||
"class_name": "crops",
|
||||
"count": 1
|
||||
}
|
||||
],
|
||||
"error_overlay": {
|
||||
"correct_material_rgba": [
|
||||
34,
|
||||
197,
|
||||
94,
|
||||
72
|
||||
],
|
||||
"missed_vegetation_rgba": [
|
||||
239,
|
||||
68,
|
||||
68,
|
||||
220
|
||||
],
|
||||
"false_vegetation_rgba": [
|
||||
245,
|
||||
158,
|
||||
11,
|
||||
220
|
||||
],
|
||||
"wrong_vegetation_material_rgba": [
|
||||
168,
|
||||
85,
|
||||
247,
|
||||
220
|
||||
]
|
||||
}
|
||||
},
|
||||
"policy_action_colors": {
|
||||
"ALLOW": "#22c55e",
|
||||
"HIGH_COST": "#f59e0b",
|
||||
"NO_GO": "#ef4444"
|
||||
},
|
||||
"invariants": {
|
||||
"one_heavy_candidate_at_a_time": true,
|
||||
"raw_fisheye_is_immutable": true,
|
||||
"outside_center_crop_is_free": false,
|
||||
"missing_or_unknown_is_free": false,
|
||||
"camera_semantics_can_clear_rigid_geometry": false,
|
||||
"navigation_authority": false,
|
||||
"actuation_authority": false,
|
||||
"canonical_triton_mutation_allowed": false
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,60 @@
|
||||
{
|
||||
"schema_version": "missioncore.m49-tgs-portable-profile/v2",
|
||||
"profile_id": "m49-tgs-portable-v2",
|
||||
"source_binding": {
|
||||
"mode": "admitted-k1-recording",
|
||||
"camera_timeline": "dynamic",
|
||||
"lidar_replay": "dynamic",
|
||||
"trajectory": "dynamic",
|
||||
"frame_counts": "source-derived",
|
||||
"filesystem_paths": "executor-resolved"
|
||||
},
|
||||
"alignment": {
|
||||
"timeline": "recorded-camera-host-arrival",
|
||||
"lidar_selection": "latest-not-newer-than-camera-frame",
|
||||
"maximum_lidar_age_seconds": 1.0,
|
||||
"future_frames_allowed": false
|
||||
},
|
||||
"tgs": {
|
||||
"max_range_m": 80.0,
|
||||
"min_range_m": 1.0,
|
||||
"resolution_m": 8.0,
|
||||
"num_iterations": 3,
|
||||
"num_lowest_representative_points": 5,
|
||||
"minimum_points": 10,
|
||||
"seed_threshold_m": 0.5,
|
||||
"distance_threshold_m": 0.125,
|
||||
"outlier_threshold_m": 0.3,
|
||||
"normal_threshold": 0.94,
|
||||
"weight_threshold": 200.0,
|
||||
"lcc_normal_similarity": 0.03,
|
||||
"lcc_planar_distance_m": 0.1,
|
||||
"obstacle_height_m": 1.0,
|
||||
"refine_mode": true
|
||||
},
|
||||
"rolling_profile": {
|
||||
"history_seconds": 1.0,
|
||||
"local_radius_m": 12.0,
|
||||
"missing_lidar_policy": "all-cells-unobserved"
|
||||
},
|
||||
"costmap": {
|
||||
"coordinate_frame": "map-gravity-local",
|
||||
"cell_size_m": 0.45,
|
||||
"radius_m": 12.0,
|
||||
"state_priority": [
|
||||
"NONGROUND_OCCUPIED",
|
||||
"UNKNOWN_REJECTED",
|
||||
"GROUND_SUPPORT",
|
||||
"UNOBSERVED"
|
||||
]
|
||||
},
|
||||
"invariants": {
|
||||
"aos_allowed": false,
|
||||
"gpu_allowed": false,
|
||||
"missing_support_means_free": false,
|
||||
"missing_lidar_means_unobserved": true,
|
||||
"unobserved_cells_are_emitted": true,
|
||||
"camera_projection_is_authoritative": false,
|
||||
"navigation_or_actuation_allowed": false
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user