{
 "scene": "FIORD_Kitchen_In",
 "fiord_folder": "Kitchen_In",
 "transform_mesh_to_gt": [
  [
   0.8120749783887864,
   -0.004696015375419597,
   -0.04865761418741018,
   -0.5933343366290443
  ],
  [
   -0.04855582275492491,
   0.016143683238393915,
   -0.8119341722529337,
   -4.298318865347085
  ],
  [
   0.005652261088231102,
   0.8133712039622943,
   0.015834235488279263,
   203.0896531725024
  ],
  [
   0.0,
   0.0,
   0.0,
   1.0
  ]
 ],
 "scale": 0.8135449505122413,
 "description": "4x4 similarity transform (row-major) mapping this folder's world frame, shared by mesh/, gaussians*/ and cameras.json, into the frame of the FIORD LiDAR ground truth in metres. The paper's method-independent SfM-to-LiDAR registration, applied identically to every method.",
 "use": "x_gt = (transform_mesh_to_gt @ [x, 1])[:3]; the paper scores F-score at 10 cm in this frame.",
 "source_sha256": "9c0e734a4cb0a212196be3bc1e9d269c7449edaea01c8e6f2cc5a56ab715c79f"
}