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index 0000000000000000000000000000000000000000..e6c9c52f363a8437aff52c7409b7c0b1ebfbaeb4
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..28cc1c018430da9b70fb582f9f91820bd812fbca
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new file mode 100644
index 0000000000000000000000000000000000000000..95bd04c004aa15b2395cb8b18b135d7dfde40b1c
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index 0000000000000000000000000000000000000000..4a69cd1dcac7d42b453110ee100d21f9d372397e
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index 0000000000000000000000000000000000000000..1f9ae205e0737c00b19fcc8e8cc5f6f874522fc1
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index 0000000000000000000000000000000000000000..1488126999eb7030cf7fa543717f54a0e2a4bfbe
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index 0000000000000000000000000000000000000000..6a1207447229f7d98339c001ae1e36b37517ba06
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index 0000000000000000000000000000000000000000..5a636a9ef230272a18135d376ca43a9fcec4d7f5
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index 0000000000000000000000000000000000000000..ee70cf956751ca748e85c2420d0936b81a3f0da1
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index 0000000000000000000000000000000000000000..e09b95580c2b02dc489537a94be72f461e40592f
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new file mode 100644
index 0000000000000000000000000000000000000000..313c8c5db898552b21bc57f4f951fd1373714e7b
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index 0000000000000000000000000000000000000000..34a0da83da874237eedf82c81ca5c293b06d0a23
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index 0000000000000000000000000000000000000000..78cf336232ac2f76712c8ee818a2680f49f4955c
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index 0000000000000000000000000000000000000000..2fe35ac825b71a2be24fa1573c8f298d402bb722
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index 0000000000000000000000000000000000000000..5792daaaa5de801ef8f001d31e064628c7dee5ee
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index 0000000000000000000000000000000000000000..6b7da4e943ef4d11ee76f779fe2c19f191c482bf
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index 0000000000000000000000000000000000000000..a84ac559777866186d94ba4b968996a0146133e0
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index 0000000000000000000000000000000000000000..f7cfaf4d572818f00aaa55633f544b0de59e48ec
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index 0000000000000000000000000000000000000000..2d6dddb10cb8552821466d2ac5654854d992a4cf
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index 0000000000000000000000000000000000000000..2f66f3857fa27cc77181d87d7a1975b52bb1834a
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+    "coordinate_frame": "final gauge-rectified world",
+    "point_count": 949494,
+    "properties": [
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+      "y",
+      "z",
+      "red",
+      "green",
+      "blue",
+      "frame_id"
+    ]
+  },
+  "validation": {
+    "complete_frames": 74,
+    "missing_files": 0,
+    "transform_relation_max_abs_error": 1.3322676295501878e-15,
+    "transform_relation_tolerance": 1e-08,
+    "passed": true
+  },
+  "provenance": {
+    "source_annotation_created_at_utc": "2026-09-10T20:36:23.316937+00:00",
+    "source_optimization_run": "final_bundle_adjustment_cam22mm_2p2deg_constant2000_cosine1000_0p01to0p0001"
+  }
+}
diff --git a/scenes/scene_020_1/cam_K.txt b/scenes/scene_020_1/cam_K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01cba4c3613f4a1538b58284b60c0a536c026e13
--- /dev/null
+++ b/scenes/scene_020_1/cam_K.txt
@@ -0,0 +1,3 @@
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index 0000000000000000000000000000000000000000..17599282ac1e653dd3d28961a02323a9664fced9
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new file mode 100644
index 0000000000000000000000000000000000000000..a18dfbf84c7b2c9e0727ddfa4535488c64663f9a
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index 0000000000000000000000000000000000000000..9855794fe60d1be3aff706719399bf0eed86455d
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index 0000000000000000000000000000000000000000..274952def397a5850eba56d9b6423db353109aed
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