diff --git "a/waymo_multi_view/segment-11379226583756500423_6230_810_6250_810_with_camera_labels/camera.xml" "b/waymo_multi_view/segment-11379226583756500423_6230_810_6250_810_with_camera_labels/camera.xml"
--- "a/waymo_multi_view/segment-11379226583756500423_6230_810_6250_810_with_camera_labels/camera.xml"
+++ "b/waymo_multi_view/segment-11379226583756500423_6230_810_6250_810_with_camera_labels/camera.xml"
@@ -13,27 +13,27 @@
         <data_type>uint8</data_type>
         <calibration type="frame" class="adjusted">
           <resolution width="1920" height="1280"/>
-          <f>2125.4204448082528</f>
-          <cx>-18.103654776713785</cx>
-          <cy>-9.6258512884765253</cy>
-          <k1>0.085994437994994524</k1>
-          <k2>-0.61139151322431062</k2>
-          <k3>0.60620215439247949</k3>
-          <p1>-0.0029869194031420594</p1>
-          <p2>-9.7542352716901837e-05</p2>
+          <f>2124.5471666047106</f>
+          <cx>-19.793115332267494</cx>
+          <cy>-8.3375453630951863</cy>
+          <k1>0.089122352463942872</k1>
+          <k2>-0.64481925361457404</k2>
+          <k3>0.69243372271462622</k3>
+          <p1>-0.0029794924848760636</p1>
+          <p2>-0.00023536213053295443</p2>
         </calibration>
         <covariance>
           <params>f cx cy k1 k2 k3 p1 p2</params>
-          <coeffs>0.078267691292571134 -0.0031776157918366383 -0.0039465790069867094 -7.6384405610332287e-06 -3.4338700115638222e-05 0.00010594873196261721 -2.6250811664551622e-07 4.3363612009722855e-07 -0.0031776157918366383 0.029063816524294798 0.0030469318762860183 -5.1354984264685992e-06 6.3384186667441326e-05 -0.00016669641947655544 2.8952372851248695e-06 1.2763311309209519e-07 -0.0039465790069867094 0.0030469318762860183 0.03880767967287755 7.284425976504415e-07 -4.0172297098761541e-05 6.8836118778719285e-05 1.7935465744326709e-07 1.7122682937101386e-06 -7.6384405610332287e-06 -5.1354984264685992e-06 7.284425976504415e-07 1.5228721573713842e-07 -1.1324637282154594e-06 2.5366777223457352e-06 -9.3509797546697549e-10 -2.6996916866545976e-10 -3.4338700115638222e-05 6.3384186667441326e-05 -4.0172297098761541e-05 -1.1324637282154594e-06 9.5363696406563369e-06 -2.2668063700265529e-05 1.0111836937358306e-08 -3.0207087997525059e-09 0.00010594873196261721 -0.00016669641947655544 6.8836118778719285e-05 2.5366777223457352e-06 -2.2668063700265529e-05 5.6202014863352406e-05 -2.6907861800281537e-08 8.4370689133552266e-09 -2.6250811664551622e-07 2.8952372851248695e-06 1.7935465744326709e-07 -9.3509797546697549e-10 1.0111836937358306e-08 -2.6907861800281537e-08 5.4467323975830496e-10 1.4836517044560074e-11 4.3363612009722855e-07 1.2763311309209519e-07 1.7122682937101386e-06 -2.6996916866545976e-10 -3.0207087997525059e-09 8.4370689133552266e-09 1.4836517044560074e-11 2.278207907798963e-10</coeffs>
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         </covariance>
       </sensor>
     </sensors>
     <components next_id="1" active_id="0">
       <component id="0" label="Component 1">
         <region>
-          <center>12.857129732352234 2.0274405505216113 -10.028565248964165</center>
-          <size>88.424784882863364 93.882210191090905 29.417854245503747</size>
-          <R>-0.90849321328445987 -0.0051704249667161289 0.41786762033177538 0.41785624055548282 -0.025643999359193495 0.90815116997430789 0.0060202695052281336 0.99965776743970203 0.025457893717964537</R>
+          <center>7.2236840067315837 2.116256145842434 -7.9590259992480918</center>
+          <size>83.966913382212326 94.410420767466235 29.112854830423991</size>
+          <R>-0.95328247677487032 -0.0061459221568904657 0.302017792712301 0.30207118327553256 -0.027170066553366925 0.95289809933591818 0.0023494059863267622 0.99961193226387979 0.027757254316382905</R>
         </region>
         <partition>
           <camera_ids>0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119</camera_ids>
@@ -42,609 +42,609 @@
     </components>
     <cameras next_id="120" next_group_id="0">
       <camera id="0" sensor_id="0" component_id="0" label="000">
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       </camera>
       <camera id="1" sensor_id="0" component_id="0" label="001">
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     <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
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@@ -657,13 +657,13 @@
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       <property name="AlignCameras/adaptive_fitting" value="false"/>
       <property name="AlignCameras/cameras" value=""/>
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       <property name="AlignCameras/point_clouds" value=""/>
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       <property name="AlignCameras/subdivide_task" value="true"/>
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 </document>