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+    "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": 640916,
+    "properties": [
+      "x",
+      "y",
+      "z",
+      "red",
+      "green",
+      "blue",
+      "frame_id"
+    ]
+  },
+  "validation": {
+    "complete_frames": 90,
+    "missing_files": 0,
+    "transform_relation_max_abs_error": 5.995204332975845e-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_022_0/cam_K.txt b/scenes/scene_022_0/cam_K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01cba4c3613f4a1538b58284b60c0a536c026e13
--- /dev/null
+++ b/scenes/scene_022_0/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_022_0/camera_extrinsics/frame_00000.txt b/scenes/scene_022_0/camera_extrinsics/frame_00000.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ade29dc125a55493d4c4dcc2c90202d9b7a0ccb
--- /dev/null
+++ b/scenes/scene_022_0/camera_extrinsics/frame_00000.txt
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diff --git a/scenes/scene_022_0/camera_extrinsics/frame_00001.txt b/scenes/scene_022_0/camera_extrinsics/frame_00001.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a8d4f992ede391ae947ed2d11ac6b5a8ad171672
--- /dev/null
+++ b/scenes/scene_022_0/camera_extrinsics/frame_00001.txt
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diff --git a/scenes/scene_022_0/camera_extrinsics/frame_00002.txt b/scenes/scene_022_0/camera_extrinsics/frame_00002.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f693265f25ec86a18e8c9c44a5fd4875a802e158
--- /dev/null
+++ b/scenes/scene_022_0/camera_extrinsics/frame_00002.txt
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diff --git a/scenes/scene_022_0/camera_extrinsics/frame_00003.txt b/scenes/scene_022_0/camera_extrinsics/frame_00003.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3508cc2b727d63c16710f32aa7a2e4f376ae74b7
--- /dev/null
+++ b/scenes/scene_022_0/camera_extrinsics/frame_00003.txt
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diff --git a/scenes/scene_022_0/camera_extrinsics/frame_00004.txt b/scenes/scene_022_0/camera_extrinsics/frame_00004.txt
new file mode 100644
index 0000000000000000000000000000000000000000..48b9a824e13442a43f9b10c3d78cbf88e6858d7d
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..5205a7b86b68fabeb1c6f9f0a01864c0f09d8dc3
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new file mode 100644
index 0000000000000000000000000000000000000000..f35f4b7540897b4b1a73e6fab5b3652b752c5f6b
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new file mode 100644
index 0000000000000000000000000000000000000000..d977d7338e79d7cff0639ebf930bf15500f2017d
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..8cc030b01d50521abe32c5bbed88530d5dd8b37a
--- /dev/null
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diff --git a/scenes/scene_022_0/camera_extrinsics/frame_00009.txt b/scenes/scene_022_0/camera_extrinsics/frame_00009.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9357ae322753ec20d875f45cebb071e7b2043026
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..3992b58fbe78242173c13ac9f5f2e0c5929b7738
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new file mode 100644
index 0000000000000000000000000000000000000000..e76b86a83d61888c028b967f33152db413e8c3af
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new file mode 100644
index 0000000000000000000000000000000000000000..d8a6c2854fae956ab1f06ba7ce4d025b60c78648
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new file mode 100644
index 0000000000000000000000000000000000000000..43c2cf584c6ae6447879fd0ce386cbc8309351b5
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new file mode 100644
index 0000000000000000000000000000000000000000..78534e3a1c5547119708880900a261795b06eb5d
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new file mode 100644
index 0000000000000000000000000000000000000000..2c9cc868efd9e199197fac2c4f0211142bdf7510
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new file mode 100644
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..0222bea1fe8a94425d2f33baf50219907292dc3e
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