{
  "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"
  }
}