schema_version: "1.0"

module:
  name: nott
  version: "0.1.0"
  display_name: "NOTT — Thermal Depth Estimation and SLAM (T-RefNet)"
  description: "Real-time depth estimation and visual SLAM from monocular thermal camera input for GPS-denied navigation"
  category: perception.depth_estimation
  license: Apache-2.0
  paper: "Thermal Image Refinement with Depth Estimation (arXiv:2603.14998, Mar 2026)"

capabilities:
  provides:
    - type: depth_estimation
      subtype: thermal_monocular
    - type: slam
      subtype: thermal_visual

interface:
  inputs:
    - name: thermal_image
      ros2_type: sensor_msgs/msg/Image
  outputs:
    - name: depth_map
      ros2_type: sensor_msgs/msg/Image
    - name: pose
      ros2_type: geometry_msgs/msg/PoseStamped

hardware:
  platforms:
    - name: linux_x86
      backends: [onnxruntime_cuda, onnxruntime_cpu]
    - name: nvidia_jetson
      backends: [tensorrt, onnxruntime_cuda]

performance:
  profiles:
    - platform: linux_x86
      model: nott-base
      backend: onnxruntime_cuda
      fps: 20
      latency_p50_ms: 35

safety:
  failure_mode: returns_empty
  timeout_ms: 500
  health_topic: /anima/nott/health

composability:
  pairs_well_with:
    - perception.slam
    - defense.threat_detection
  conflicts_with: []

container:
  image: ghcr.io/robotflow-labs/anima-nott:0.1.0
  port: 8104