| schema_version: "1.0" | |
| module: | |
| name: urd | |
| version: 0.1.0 | |
| display_name: "URD — UniScale Unified Scale-Aware Multi-View 3D Reconstruction" | |
| description: > | |
| Unified scale-aware multi-view 3D reconstruction for robotic perception. | |
| Combines camera intrinsics, extrinsics, metric depth, and 3D point cloud | |
| generation into a single neural network forward pass. | |
| category: perception.reconstruction_3d | |
| license: Apache-2.0 | |
| paper: "https://arxiv.org/abs/2602.23224" | |
| capabilities: | |
| provides: | |
| - type: reconstruction | |
| subtype: multiview_3d | |
| - type: depth_estimation | |
| subtype: metric_scale | |
| interface: | |
| inputs: | |
| - name: multi_view_images | |
| ros2_type: sensor_msgs/msg/Image | |
| - name: camera_info | |
| ros2_type: sensor_msgs/msg/CameraInfo | |
| outputs: | |
| - name: depth | |
| ros2_type: sensor_msgs/msg/Image | |
| - name: pointcloud | |
| ros2_type: sensor_msgs/msg/PointCloud2 | |
| - name: scale | |
| ros2_type: std_msgs/msg/Float32 | |
| hardware: | |
| platforms: | |
| - name: linux_x86 | |
| backends: [onnxruntime_cuda, onnxruntime_cpu] | |
| performance: | |
| profiles: | |
| - platform: linux_x86 | |
| model: urd-uniscale | |
| backend: onnxruntime_cuda | |
| fps: 5 | |
| latency_p50_ms: 200 | |
| safety: | |
| failure_mode: returns_empty | |
| timeout_ms: 1000 | |
| health_topic: /anima/urd/health | |
| composability: | |
| pairs_well_with: [] | |
| conflicts_with: [] | |
| container: | |
| image: ghcr.io/robotflow-labs/anima-urd:0.1.0 | |
| port: 8080 | |