Scale in co3d annotation file

Hi,

I'm trying to run NeRF on the scenes from your dataset.
I started by looking at one frame in a scene in the category "hydrant":
Using the FrameData, I extracted the R,T matrices and converted them to opencv format using [https://github.com/facebookresearch/pytorch3d/blob/main/pytorch3d/utils/camera_conversions.py#L65](url)

So, this should give me the camera position of this specific frame.
Looking at the extracted location of the camera (the T vector), I'm seeing large numbers that don't match the image (for example 7m even though the hydrant is very close to the camera as appears in the image).
Also, the deph map of the frame and the point cloud of the scene shows large number that can't be real.

I assume there's some kind of scaling needed.
How can I extract this scaling factor?

Thanks

Start by reviewing the CO3D FrameData transforms and the linked PyTorch3D camera conversion utility, then compare the extracted T vector with the frame depth map and scene point cloud for the hydrant example. The issue does not name a repository file or test; completion would require determining and documenting the correct scaling factor for these values.

Written by the indexing model from the issue text.