schema_version: "1.0"

module:
  name: freya
  version: 0.1.0
  display_name: "FREYA — Gaussian-LIC2 LiDAR-Inertial-Camera SLAM"
  description: >
    Tightly-coupled LiDAR + Inertial + Camera Gaussian Splatting SLAM with
    continuous-time trajectory optimization, zero-shot depth completion, and
    real-time photo-realistic 3D reconstruction.
  category: slam.sensor_fusion
  license: Apache-2.0
  paper: "https://hf.co/papers/2507.04004"

capabilities:
  provides:
    - type: slam
      subtype: gaussian_splatting
    - type: odometry
      subtype: lidar_inertial_camera

interface:
  inputs:
    - name: left_image
      ros2_type: sensor_msgs/msg/Image
    - name: right_image
      ros2_type: sensor_msgs/msg/Image
    - name: imu_data
      ros2_type: sensor_msgs/msg/Imu
    - name: pointcloud
      ros2_type: sensor_msgs/msg/PointCloud2
  outputs:
    - name: odometry
      ros2_type: nav_msgs/msg/Odometry
    - name: rendered_view
      ros2_type: sensor_msgs/msg/Image
    - name: pose
      ros2_type: geometry_msgs/msg/PoseStamped

hardware:
  platforms:
    - name: linux_x86
      backends: [onnxruntime_cuda]

performance:
  profiles:
    - platform: linux_x86
      model: freya-slam
      backend: onnxruntime_cuda
      fps: 30
      latency_p50_ms: 33

safety:
  failure_mode: returns_empty
  timeout_ms: 100
  health_topic: /anima/freya/health

composability:
  pairs_well_with: []
  conflicts_with: []

container:
  image: ghcr.io/robotflow-labs/anima-freya:0.1.0
  port: 8080