| { | |
| "schema": "zil.pose.v1", | |
| "checkpoint": "zil-inference.safetensors", | |
| "transform": "T_lidar_from_camera", | |
| "camera_axes": "x-right, y-down, z-forward", | |
| "lidar_axes": "x-forward, y-left, z-up", | |
| "translation_units": "meters", | |
| "model": { | |
| "use_random_pc": false, | |
| "post_encoder_z_shift": true, | |
| "max_pc_tokens": 2048, | |
| "point_scale": 75.0, | |
| "translation_scale": 10.0, | |
| "utonia_input_scale": 5.0, | |
| "adaptive_grid_sampling": true, | |
| "adaptive_grid_max_iters": 8, | |
| "adaptive_grid_upper_ratio": 2.0 | |
| }, | |
| "preprocessing": { | |
| "image_width": 518, | |
| "image_height": 280, | |
| "pointcloud_radius_m": 75.0, | |
| "input_pointcloud_axes": "FLU" | |
| } | |
| } | |