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+    "intrinsics": "cam_K.txt",
+    "object_to_world": "object_pose_m2w.txt",
+    "mesh": "mesh/pumpkin4.obj",
+    "world_pointcloud": "../../pointclouds/scene_051_1.ply"
+  },
+  "units": {
+    "mesh_source": "millimetres",
+    "mesh_scale_to_metres": 0.001,
+    "depth_storage": "uint16 millimetres",
+    "transform_translation": "metres",
+    "pointcloud": "metres"
+  },
+  "transforms": {
+    "pose": "object_to_camera (m2c)",
+    "camera_extrinsics": "camera_to_world (c2w)",
+    "object_pose": "object_to_world (m2w)",
+    "relation": "T_m2c = inverse(T_c2w) @ T_m2w"
+  },
+  "camera_convention": "OpenCV: +x right, +y down, +z forward",
+  "mask": {
+    "format": "single-channel binary PNG",
+    "background": 0,
+    "object": 255
+  },
+  "pointcloud": {
+    "mask_erosion_px": 10,
+    "depth_source": "depth_valid",
+    "depth_range_mm": [
+      50,
+      1200
+    ],
+    "coordinate_frame": "final gauge-rectified world",
+    "point_count": 12277780,
+    "properties": [
+      "x",
+      "y",
+      "z",
+      "red",
+      "green",
+      "blue",
+      "frame_id"
+    ]
+  },
+  "validation": {
+    "complete_frames": 88,
+    "missing_files": 0,
+    "transform_relation_max_abs_error": 5.10702591327572e-15,
+    "transform_relation_tolerance": 1e-08,
+    "passed": true
+  },
+  "provenance": {
+    "source_annotation_created_at_utc": "2026-09-10T22:26:00.868577+00:00",
+    "source_optimization_run": "final_bundle_adjustment_cam22mm_2p2deg_constant2000_cosine1000_0p01to0p0001"
+  }
+}
diff --git a/scenes/scene_051_2/cam_K.txt b/scenes/scene_051_2/cam_K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01cba4c3613f4a1538b58284b60c0a536c026e13
--- /dev/null
+++ b/scenes/scene_051_2/cam_K.txt
@@ -0,0 +1,3 @@
+1000.005005 0.000000 638.613525
+0.000000 999.319580 481.219177
+0.000000 0.000000 1.000000
diff --git a/scenes/scene_051_2/camera_extrinsics/frame_00001.txt b/scenes/scene_051_2/camera_extrinsics/frame_00001.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cd06e4988b62d492267a8ee88b647d2739c6b688
--- /dev/null
+++ b/scenes/scene_051_2/camera_extrinsics/frame_00001.txt
@@ -0,0 +1,4 @@
+-0.624390227611361 -0.0544485881468056 0.779212571611575 0.557555036624493
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diff --git a/scenes/scene_051_2/camera_extrinsics/frame_00002.txt b/scenes/scene_051_2/camera_extrinsics/frame_00002.txt
new file mode 100644
index 0000000000000000000000000000000000000000..147dd463e10bcd940ab5fca678e5b3780758ea55
--- /dev/null
+++ b/scenes/scene_051_2/camera_extrinsics/frame_00002.txt
@@ -0,0 +1,4 @@
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diff --git a/scenes/scene_051_2/camera_extrinsics/frame_00003.txt b/scenes/scene_051_2/camera_extrinsics/frame_00003.txt
new file mode 100644
index 0000000000000000000000000000000000000000..96041788b0f724119d73192797670833691c5731
--- /dev/null
+++ b/scenes/scene_051_2/camera_extrinsics/frame_00003.txt
@@ -0,0 +1,4 @@
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diff --git a/scenes/scene_051_2/camera_extrinsics/frame_00004.txt b/scenes/scene_051_2/camera_extrinsics/frame_00004.txt
new file mode 100644
index 0000000000000000000000000000000000000000..981f90fb7eaf591aca649ce4e1be1fb1200908b5
--- /dev/null
+++ b/scenes/scene_051_2/camera_extrinsics/frame_00004.txt
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diff --git a/scenes/scene_051_2/camera_extrinsics/frame_00005.txt b/scenes/scene_051_2/camera_extrinsics/frame_00005.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c532510b8171aaaeede7c79df342ced210dbeea6
--- /dev/null
+++ b/scenes/scene_051_2/camera_extrinsics/frame_00005.txt
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diff --git a/scenes/scene_051_2/camera_extrinsics/frame_00007.txt b/scenes/scene_051_2/camera_extrinsics/frame_00007.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1c4de2b14cc2da26853001ff726561eed71e037a
--- /dev/null
+++ b/scenes/scene_051_2/camera_extrinsics/frame_00007.txt
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diff --git a/scenes/scene_051_2/camera_extrinsics/frame_00008.txt b/scenes/scene_051_2/camera_extrinsics/frame_00008.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c74c963bf88d5262a50f60a254bebf1e0e7bbc02
--- /dev/null
+++ b/scenes/scene_051_2/camera_extrinsics/frame_00008.txt
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diff --git a/scenes/scene_051_2/camera_extrinsics/frame_00009.txt b/scenes/scene_051_2/camera_extrinsics/frame_00009.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a6ad553696d0fe0f4b1a29a3f20e98288d23a7ab
--- /dev/null
+++ b/scenes/scene_051_2/camera_extrinsics/frame_00009.txt
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new file mode 100644
index 0000000000000000000000000000000000000000..85c8ee8317f4ec9ddb368dd945a3adcded097bfd
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..be1eb4694fe3df0bdf3a39b2e61ce00d7812875b
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..7efe2521c17d24f431bd1c15ca51b6c421108200
--- /dev/null
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diff --git a/scenes/scene_051_2/camera_extrinsics/frame_00013.txt b/scenes/scene_051_2/camera_extrinsics/frame_00013.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bedf3561360dda6925a339ba8d5876c82371b012
--- /dev/null
+++ b/scenes/scene_051_2/camera_extrinsics/frame_00013.txt
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new file mode 100644
index 0000000000000000000000000000000000000000..7ab2cd2f256d87fda80ae118d48453276a41066f
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..0ace9648c018433447906429da2492e65157bcbe
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new file mode 100644
index 0000000000000000000000000000000000000000..25eeeb27ca237c8ee74f2bae03b0ac61c0fee66e
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new file mode 100644
index 0000000000000000000000000000000000000000..cd1f71a314628936b6557ea19350240e8114a7d5
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..e89d6b963de6a32847640ec95346ae0d4105fead
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index 0000000000000000000000000000000000000000..70a0216ae1223cb09e0caea3f86086cd236e783e
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index 0000000000000000000000000000000000000000..afabb9328288370bce9f190a3e5f15317d5cad53
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+    "object_to_camera": "poses/frame_XXXXX.txt",
+    "camera_to_world": "camera_extrinsics/frame_XXXXX.txt",
+    "intrinsics": "cam_K.txt",
+    "object_to_world": "object_pose_m2w.txt",
+    "mesh": "mesh/pumpkin4.obj",
+    "world_pointcloud": "../../pointclouds/scene_051_2.ply"
+  },
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+    "object_pose": "object_to_world (m2w)",
+    "relation": "T_m2c = inverse(T_c2w) @ T_m2w"
+  },
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+  },
+  "validation": {
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+    "missing_files": 0,
+    "transform_relation_max_abs_error": 5.10702591327572e-15,
+    "transform_relation_tolerance": 1e-08,
+    "passed": true
+  },
+  "provenance": {
+    "source_annotation_created_at_utc": "2026-09-10T22:26:00.868577+00:00",
+    "source_optimization_run": "final_bundle_adjustment_cam22mm_2p2deg_constant2000_cosine1000_0p01to0p0001"
+  }
+}
diff --git a/scenes/scene_052_0/cam_K.txt b/scenes/scene_052_0/cam_K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01cba4c3613f4a1538b58284b60c0a536c026e13
--- /dev/null
+++ b/scenes/scene_052_0/cam_K.txt
@@ -0,0 +1,3 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..e2b9affc2e3c6164098c89cf16006b4ac15b2f1b
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index 0000000000000000000000000000000000000000..200a9ee36b01c685095fcbe79d2ed25120a22b51
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index 0000000000000000000000000000000000000000..757e092bfc4207aed488b6ed7b8604dc46435e43
--- /dev/null
+++ b/scenes/scene_052_0/poses/frame_00060.txt
@@ -0,0 +1,4 @@
+0.640947463737575 0.762973416080744 -0.0840105878255502 -0.0426947156899114
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diff --git a/scenes/scene_052_0/poses/frame_00061.txt b/scenes/scene_052_0/poses/frame_00061.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0efd303793d3b1a6d92a622bf6b53168c2311f59
--- /dev/null
+++ b/scenes/scene_052_0/poses/frame_00061.txt
@@ -0,0 +1,4 @@
+0.788004081738539 0.610705741284051 -0.0780270767434124 -0.0172306167720683
+-0.0871828872529688 0.236144811570029 0.967798902583813 0.3907152576023
+0.609465985984417 -0.755826793083524 0.239326170520224 0.721118102322637
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