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