| schema_version: "1.0" | |
| module: | |
| name: abyssos | |
| version: "0.1.0" | |
| display_name: "ABYSSOS — Metric Depth Estimation via PromptDA" | |
| description: "Sparse LiDAR-prompted metric depth estimation using PromptDA ViT-S/L models for dense depth map generation" | |
| category: perception.depth_estimation | |
| license: Apache-2.0 | |
| paper: "PromptDA: Prompt Depth Anything" | |
| capabilities: | |
| provides: | |
| - type: depth_estimation | |
| subtype: metric_lidar_prompted | |
| - type: depth_completion | |
| subtype: sparse_to_dense | |
| interface: | |
| inputs: | |
| - name: rgb_image | |
| ros2_type: sensor_msgs/msg/Image | |
| - name: lidar_sparse | |
| ros2_type: sensor_msgs/msg/PointCloud2 | |
| outputs: | |
| - name: depth_map | |
| ros2_type: sensor_msgs/msg/Image | |
| - name: confidence_map | |
| ros2_type: sensor_msgs/msg/Image | |
| hardware: | |
| platforms: | |
| - name: linux_x86 | |
| backends: [onnxruntime_cuda, onnxruntime_cpu] | |
| - name: nvidia_jetson | |
| backends: [tensorrt, onnxruntime_cuda] | |
| performance: | |
| profiles: | |
| - platform: linux_x86 | |
| model: abyssos-base | |
| backend: onnxruntime_cuda | |
| fps: 15 | |
| latency_p50_ms: 50 | |
| safety: | |
| failure_mode: returns_empty | |
| timeout_ms: 500 | |
| health_topic: /anima/abyssos/health | |
| composability: | |
| pairs_well_with: | |
| - perception.slam | |
| - perception.point_cloud | |
| conflicts_with: [] | |
| container: | |
| image: ghcr.io/robotflow-labs/anima-abyssos:0.1.0 | |
| port: 8081 | |