diff --git a/waymo_multi_view/segment-10061305430875486848_1080_000_1100_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-10061305430875486848_1080_000_1100_000_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..275e53168b4e5592de607546e33d98b20ef7e35e
--- /dev/null
+++ b/waymo_multi_view/segment-10061305430875486848_1080_000_1100_000_with_camera_labels/camera.xml
@@ -0,0 +1,669 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<document version="2.0.0">
+  <chunk label="Chunk 1" enabled="true">
+    <sensors next_id="1">
+      <sensor id="0" label="unknown" type="frame">
+        <resolution width="1920" height="1280"/>
+        <property name="layer_index" value="0"/>
+        <bands>
+          <band label="Red"/>
+          <band label="Green"/>
+          <band label="Blue"/>
+        </bands>
+        <data_type>uint8</data_type>
+        <calibration type="frame" class="adjusted">
+          <resolution width="1920" height="1280"/>
+          <f>2040.07117669374</f>
+          <cx>-11.557656048833477</cx>
+          <cy>0.59866209638381862</cy>
+          <k1>0.04964847896593879</k1>
+          <k2>-0.49570691236636272</k2>
+          <k3>0.49705020764134489</k3>
+          <p1>-0.00029496825170260721</p1>
+          <p2>0.001623389343691927</p2>
+        </calibration>
+        <covariance>
+          <params>f cx cy k1 k2 k3 p1 p2</params>
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+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
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+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="66.948"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="207593472"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.247035572996081"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-10061305430875486848_1080_000_1100_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-10061305430875486848_1080_000_1100_000_with_camera_labels/cams_meta.npy
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index 0000000000000000000000000000000000000000..960c6713ce50cc41c2e851fa59f5baf950e94701
--- /dev/null
+++ b/waymo_multi_view/segment-10061305430875486848_1080_000_1100_000_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-10247954040621004675_2180_000_2200_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-10247954040621004675_2180_000_2200_000_with_camera_labels/camera.xml
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index 0000000000000000000000000000000000000000..00b7aa2ea494fdaa99521b08271cf53bf9167e26
--- /dev/null
+++ b/waymo_multi_view/segment-10247954040621004675_2180_000_2200_000_with_camera_labels/camera.xml
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+      </camera>
+    </cameras>
+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
+      <center>8.5968710880120351 2.8523741856915912 -14.716366480260243</center>
+      <size>92.995602925618499 89.102927144368493 35.7763661702474</size>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
+    </settings>
+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="65.549"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="205443072"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.227895273739277"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-10247954040621004675_2180_000_2200_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-10247954040621004675_2180_000_2200_000_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8058b7445498abaaa5a818605cd7351afd155261
--- /dev/null
+++ b/waymo_multi_view/segment-10247954040621004675_2180_000_2200_000_with_camera_labels/cams_meta.npy
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+oid sha256:520949597cb5dbeeea76fdb7f49e8d5dbe2011a664e65216444dbe4bc8cc80ed
+size 26048
diff --git a/waymo_multi_view/segment-10275144660749673822_5755_561_5775_561_with_camera_labels/camera.xml b/waymo_multi_view/segment-10275144660749673822_5755_561_5775_561_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c9286b8259f7b362ec985d2a52aed26c4028952f
--- /dev/null
+++ b/waymo_multi_view/segment-10275144660749673822_5755_561_5775_561_with_camera_labels/camera.xml
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+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
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+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
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+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="67.684"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="198557696"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.217076596789753"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-10275144660749673822_5755_561_5775_561_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-10275144660749673822_5755_561_5775_561_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0cceed6f8774eda5ee900657ad8f0243e101ad9a
--- /dev/null
+++ b/waymo_multi_view/segment-10275144660749673822_5755_561_5775_561_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-10676267326664322837_311_180_331_180_with_camera_labels/camera.xml b/waymo_multi_view/segment-10676267326664322837_311_180_331_180_with_camera_labels/camera.xml
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index 0000000000000000000000000000000000000000..294982bacb766613b4fba2aa3541cf4217d08e64
--- /dev/null
+++ b/waymo_multi_view/segment-10676267326664322837_311_180_331_180_with_camera_labels/camera.xml
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+      </camera>
+    </cameras>
+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
+      <center>-11.541295542519581 1.7591180531748298 4.8457707293393835</center>
+      <size>113.15029001235962 108.90268030166627 34.505642890930176</size>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
+    </settings>
+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="78.372"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="193470464"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.217538721014018"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-10676267326664322837_311_180_331_180_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-10676267326664322837_311_180_331_180_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..de3caa47056a355bb0806e2d4ef05e94c551a847
--- /dev/null
+++ b/waymo_multi_view/segment-10676267326664322837_311_180_331_180_with_camera_labels/cams_meta.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f92c84e801e5cb98b07754a22766e2162299d2c0b754e1738980abe4d5998da
+size 26048
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
new file mode 100644
index 0000000000000000000000000000000000000000..f70ef4c40d9f5d273e479c46dc2fc08dfc887d57
--- /dev/null
+++ b/waymo_multi_view/segment-11379226583756500423_6230_810_6250_810_with_camera_labels/camera.xml
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+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
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+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
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+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="66.062"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="210608128"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.21011176957807"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-11379226583756500423_6230_810_6250_810_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-11379226583756500423_6230_810_6250_810_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72955b240a58241e76e158b80d180a77eec6760e
--- /dev/null
+++ b/waymo_multi_view/segment-11379226583756500423_6230_810_6250_810_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-1172406780360799916_1660_000_1680_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-1172406780360799916_1660_000_1680_000_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7b08e74e0c22bd6aa942896447321c5996c5db25
--- /dev/null
+++ b/waymo_multi_view/segment-1172406780360799916_1660_000_1680_000_with_camera_labels/camera.xml
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+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
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+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="78.049"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="199745536"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.257590213831532"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-1172406780360799916_1660_000_1680_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-1172406780360799916_1660_000_1680_000_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..dbda18c652b645b526c31e8f112e0cf5462e66f6
--- /dev/null
+++ b/waymo_multi_view/segment-1172406780360799916_1660_000_1680_000_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-12879640240483815315_5852_605_5872_605_with_camera_labels/camera.xml b/waymo_multi_view/segment-12879640240483815315_5852_605_5872_605_with_camera_labels/camera.xml
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--- /dev/null
+++ b/waymo_multi_view/segment-12879640240483815315_5852_605_5872_605_with_camera_labels/camera.xml
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+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
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+    </settings>
+    <meta>
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+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="60.993"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="191406080"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.176769313188703"/>
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+</document>
diff --git a/waymo_multi_view/segment-12879640240483815315_5852_605_5872_605_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-12879640240483815315_5852_605_5872_605_with_camera_labels/cams_meta.npy
new file mode 100644
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--- /dev/null
+++ b/waymo_multi_view/segment-12879640240483815315_5852_605_5872_605_with_camera_labels/cams_meta.npy
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diff --git a/waymo_multi_view/segment-13085453465864374565_2040_000_2060_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-13085453465864374565_2040_000_2060_000_with_camera_labels/camera.xml
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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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+      <property name="accuracy_cameras_ypr" value="10"/>
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+      <property name="accuracy_scalebars" value="0.001"/>
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+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="58.55"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="213745664"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.245585868096519"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-13085453465864374565_2040_000_2060_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-13085453465864374565_2040_000_2060_000_with_camera_labels/cams_meta.npy
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--- /dev/null
+++ b/waymo_multi_view/segment-13085453465864374565_2040_000_2060_000_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-13142190313715360621_3888_090_3908_090_with_camera_labels/camera.xml b/waymo_multi_view/segment-13142190313715360621_3888_090_3908_090_with_camera_labels/camera.xml
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--- /dev/null
+++ b/waymo_multi_view/segment-13142190313715360621_3888_090_3908_090_with_camera_labels/camera.xml
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+      </camera>
+    </cameras>
+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
+      <center>-18.376682531491539 2.9157763174853044 -9.1614659116556609</center>
+      <size>81.543378384908038 88.674341901143393 32.842641194661461</size>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
+    </settings>
+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="77.412"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="197804032"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.203881819427296"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-13142190313715360621_3888_090_3908_090_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-13142190313715360621_3888_090_3908_090_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3836f7ad2a7a7d508870f36cae9cdb4b1bc99e37
--- /dev/null
+++ b/waymo_multi_view/segment-13142190313715360621_3888_090_3908_090_with_camera_labels/cams_meta.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d07bc87d1d00c0b01b547918a7a6ed408eb381d31651933639e5ed88f6084702
+size 26048
diff --git a/waymo_multi_view/segment-13196796799137805454_3036_940_3056_940_with_camera_labels/camera.xml b/waymo_multi_view/segment-13196796799137805454_3036_940_3056_940_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..058af76be2a25051b1b8061eb22cf975cc1270df
--- /dev/null
+++ b/waymo_multi_view/segment-13196796799137805454_3036_940_3056_940_with_camera_labels/camera.xml
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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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+      <property name="OptimizeCameras/sigma0" value="0.22663423513673"/>
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+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-13196796799137805454_3036_940_3056_940_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-13196796799137805454_3036_940_3056_940_with_camera_labels/cams_meta.npy
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index 0000000000000000000000000000000000000000..141357ad4886114cecf6b8996e5cb327d2346362
--- /dev/null
+++ b/waymo_multi_view/segment-13196796799137805454_3036_940_3056_940_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-13238419657658219864_4630_850_4650_850_with_camera_labels/camera.xml b/waymo_multi_view/segment-13238419657658219864_4630_850_4650_850_with_camera_labels/camera.xml
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--- /dev/null
+++ b/waymo_multi_view/segment-13238419657658219864_4630_850_4650_850_with_camera_labels/camera.xml
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+      </camera>
+    </cameras>
+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
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+      <size>22.492056671778361 27.685548035303754 7.9140336672464997</size>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
+    </settings>
+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="58.279"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="192765952"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.209112065940816"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-13238419657658219864_4630_850_4650_850_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-13238419657658219864_4630_850_4650_850_with_camera_labels/cams_meta.npy
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--- /dev/null
+++ b/waymo_multi_view/segment-13238419657658219864_4630_850_4650_850_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-13469905891836363794_4429_660_4449_660_with_camera_labels/camera.xml b/waymo_multi_view/segment-13469905891836363794_4429_660_4449_660_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7b904711bdb3e8a18354bc80ebee7940967e3f25
--- /dev/null
+++ b/waymo_multi_view/segment-13469905891836363794_4429_660_4449_660_with_camera_labels/camera.xml
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diff --git a/waymo_multi_view/segment-13469905891836363794_4429_660_4449_660_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-13469905891836363794_4429_660_4449_660_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..30b11e1784870840c33deef9b86881adde5cfe02
--- /dev/null
+++ b/waymo_multi_view/segment-13469905891836363794_4429_660_4449_660_with_camera_labels/cams_meta.npy
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diff --git a/waymo_multi_view/segment-14004546003548947884_2331_861_2351_861_with_camera_labels/camera.xml b/waymo_multi_view/segment-14004546003548947884_2331_861_2351_861_with_camera_labels/camera.xml
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--- /dev/null
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+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
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+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="80.122"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="208531456"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.212898431343349"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-14004546003548947884_2331_861_2351_861_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-14004546003548947884_2331_861_2351_861_with_camera_labels/cams_meta.npy
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--- /dev/null
+++ b/waymo_multi_view/segment-14004546003548947884_2331_861_2351_861_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-14333744981238305769_5658_260_5678_260_with_camera_labels/camera.xml b/waymo_multi_view/segment-14333744981238305769_5658_260_5678_260_with_camera_labels/camera.xml
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--- /dev/null
+++ b/waymo_multi_view/segment-14333744981238305769_5658_260_5678_260_with_camera_labels/camera.xml
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+      </camera>
+    </cameras>
+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
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+      <size>28.572605355580649 27.366323693593344 10.153015454610189</size>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
+    </settings>
+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="61.138"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="222154752"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.236483832779518"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-14333744981238305769_5658_260_5678_260_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-14333744981238305769_5658_260_5678_260_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..199b31bf4281f04324b642a565c5b5fac6eafed6
--- /dev/null
+++ b/waymo_multi_view/segment-14333744981238305769_5658_260_5678_260_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-14348136031422182645_3360_000_3380_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-14348136031422182645_3360_000_3380_000_with_camera_labels/camera.xml
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index 0000000000000000000000000000000000000000..d2c303f28ddc26b6478c36e0036542a800904fa7
--- /dev/null
+++ b/waymo_multi_view/segment-14348136031422182645_3360_000_3380_000_with_camera_labels/camera.xml
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+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
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+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
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+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="101.15"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="155213824"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.291184712933287"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-14348136031422182645_3360_000_3380_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-14348136031422182645_3360_000_3380_000_with_camera_labels/cams_meta.npy
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index 0000000000000000000000000000000000000000..89f6418804883d13125ebac1811c26c1fded534e
--- /dev/null
+++ b/waymo_multi_view/segment-14348136031422182645_3360_000_3380_000_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-14424804287031718399_1281_030_1301_030_with_camera_labels/camera.xml b/waymo_multi_view/segment-14424804287031718399_1281_030_1301_030_with_camera_labels/camera.xml
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index 0000000000000000000000000000000000000000..a5954c1b92986c37bdc12dd859232b5562fae240
--- /dev/null
+++ b/waymo_multi_view/segment-14424804287031718399_1281_030_1301_030_with_camera_labels/camera.xml
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+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
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+    <settings>
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+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
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+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="60.421"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="203390976"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.209014957746223"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-14424804287031718399_1281_030_1301_030_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-14424804287031718399_1281_030_1301_030_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..35804a7fd5e5442e921ae52acfdf21897c70fc38
--- /dev/null
+++ b/waymo_multi_view/segment-14424804287031718399_1281_030_1301_030_with_camera_labels/cams_meta.npy
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+version https://git-lfs.github.com/spec/v1
+oid sha256:93a83064db9da592981ad86c727fe7cc23a206ccbcd8cff4f85ac8c58d741d35
+size 26048
diff --git a/waymo_multi_view/segment-14869732972903148657_2420_000_2440_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-14869732972903148657_2420_000_2440_000_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f03309f8f0273112fd13dbc23a924ce055910137
--- /dev/null
+++ b/waymo_multi_view/segment-14869732972903148657_2420_000_2440_000_with_camera_labels/camera.xml
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+    <meta>
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+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="56.593"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="210976768"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.264286739288426"/>
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diff --git a/waymo_multi_view/segment-14869732972903148657_2420_000_2440_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-14869732972903148657_2420_000_2440_000_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f15e5ed09ac782ce6099b11a7801ca19c42c2c9b
--- /dev/null
+++ b/waymo_multi_view/segment-14869732972903148657_2420_000_2440_000_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-15221704733958986648_1400_000_1420_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-15221704733958986648_1400_000_1420_000_with_camera_labels/camera.xml
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+++ b/waymo_multi_view/segment-15221704733958986648_1400_000_1420_000_with_camera_labels/camera.xml
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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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+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
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+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="85.477"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="216854528"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.191080114498849"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-15221704733958986648_1400_000_1420_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-15221704733958986648_1400_000_1420_000_with_camera_labels/cams_meta.npy
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--- /dev/null
+++ b/waymo_multi_view/segment-15221704733958986648_1400_000_1420_000_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-15270638100874320175_2720_000_2740_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-15270638100874320175_2720_000_2740_000_with_camera_labels/camera.xml
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+++ b/waymo_multi_view/segment-15270638100874320175_2720_000_2740_000_with_camera_labels/camera.xml
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+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
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+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="67.547"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="204161024"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.228615726042913"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-15270638100874320175_2720_000_2740_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-15270638100874320175_2720_000_2740_000_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4838a8910828a7b9fc287fb2aff5528728b47e9d
--- /dev/null
+++ b/waymo_multi_view/segment-15270638100874320175_2720_000_2740_000_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-15349503153813328111_2160_000_2180_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-15349503153813328111_2160_000_2180_000_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d32833602833ee9208e588eb443ffcbffc64cb9e
--- /dev/null
+++ b/waymo_multi_view/segment-15349503153813328111_2160_000_2180_000_with_camera_labels/camera.xml
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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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+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.253298815521643"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-15349503153813328111_2160_000_2180_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-15349503153813328111_2160_000_2180_000_with_camera_labels/cams_meta.npy
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--- /dev/null
+++ b/waymo_multi_view/segment-15349503153813328111_2160_000_2180_000_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-15365821471737026848_1160_000_1180_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-15365821471737026848_1160_000_1180_000_with_camera_labels/camera.xml
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+++ b/waymo_multi_view/segment-15365821471737026848_1160_000_1180_000_with_camera_labels/camera.xml
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+    </cameras>
+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
+      <center>9.7449601781135247 0.83056456502174791 -9.0185357215338815</center>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
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+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="88.732"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="209494016"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.239031754569377"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-15365821471737026848_1160_000_1180_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-15365821471737026848_1160_000_1180_000_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c6397194468ac2c9162e0d0db8e94e703f0fa091
--- /dev/null
+++ b/waymo_multi_view/segment-15365821471737026848_1160_000_1180_000_with_camera_labels/cams_meta.npy
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+oid sha256:03592473418dd9d03befa7e8c9f65ebde7a308601dad1917747ed212c7fb08cb
+size 26048
diff --git a/waymo_multi_view/segment-15868625208244306149_4340_000_4360_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-15868625208244306149_4340_000_4360_000_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d100fd15bd4195eb74697cae8ef056898c1b34b0
--- /dev/null
+++ b/waymo_multi_view/segment-15868625208244306149_4340_000_4360_000_with_camera_labels/camera.xml
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diff --git a/waymo_multi_view/segment-15868625208244306149_4340_000_4360_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-15868625208244306149_4340_000_4360_000_with_camera_labels/cams_meta.npy
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--- /dev/null
+++ b/waymo_multi_view/segment-15868625208244306149_4340_000_4360_000_with_camera_labels/cams_meta.npy
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diff --git a/waymo_multi_view/segment-16345319168590318167_1420_000_1440_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-16345319168590318167_1420_000_1440_000_with_camera_labels/camera.xml
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+      </camera>
+    </cameras>
+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
+      <center>5.249553572418014 0.53399828488076295 -4.0229672739339168</center>
+      <size>27.592632023493451 23.753101174036662 8.9390371958414718</size>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
+    </settings>
+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="57.533"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="207482880"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.275624540019877"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-16345319168590318167_1420_000_1440_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-16345319168590318167_1420_000_1440_000_with_camera_labels/cams_meta.npy
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--- /dev/null
+++ b/waymo_multi_view/segment-16345319168590318167_1420_000_1440_000_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-16470190748368943792_4369_490_4389_490_with_camera_labels/camera.xml b/waymo_multi_view/segment-16470190748368943792_4369_490_4389_490_with_camera_labels/camera.xml
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+++ b/waymo_multi_view/segment-16470190748368943792_4369_490_4389_490_with_camera_labels/camera.xml
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+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
+    </settings>
+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="100.892"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="206352384"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.223329290102174"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-16470190748368943792_4369_490_4389_490_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-16470190748368943792_4369_490_4389_490_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..29685ce678d43415f05ad340b8e85defcc011e8e
--- /dev/null
+++ b/waymo_multi_view/segment-16470190748368943792_4369_490_4389_490_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-16608525782988721413_100_000_120_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-16608525782988721413_100_000_120_000_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1e40cf9c3a37fd1206da0075bce5b987cc85ec24
--- /dev/null
+++ b/waymo_multi_view/segment-16608525782988721413_100_000_120_000_with_camera_labels/camera.xml
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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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+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
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+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="67.324"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="203259904"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.356669547727667"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-16608525782988721413_100_000_120_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-16608525782988721413_100_000_120_000_with_camera_labels/cams_meta.npy
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index 0000000000000000000000000000000000000000..adcfeb5644e120e1e6451166a91bb5487d84aa13
--- /dev/null
+++ b/waymo_multi_view/segment-16608525782988721413_100_000_120_000_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-16646360389507147817_3320_000_3340_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-16646360389507147817_3320_000_3340_000_with_camera_labels/camera.xml
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--- /dev/null
+++ b/waymo_multi_view/segment-16646360389507147817_3320_000_3340_000_with_camera_labels/camera.xml
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+      </camera>
+    </cameras>
+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
+      <center>-1.4258549591304144 0.86096363185928448 0.73003364784530123</center>
+      <size>32.594359572728479 27.438065512975058 12.125777848561606</size>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
+    </settings>
+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="67.515"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="195903488"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.207847002059691"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-16646360389507147817_3320_000_3340_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-16646360389507147817_3320_000_3340_000_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f6c06d85a88843a0e2d02f4b6f5dbff00ba71b12
--- /dev/null
+++ b/waymo_multi_view/segment-16646360389507147817_3320_000_3340_000_with_camera_labels/cams_meta.npy
@@ -0,0 +1,3 @@
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+size 26048
diff --git a/waymo_multi_view/segment-17761959194352517553_5448_420_5468_420_with_camera_labels/camera.xml b/waymo_multi_view/segment-17761959194352517553_5448_420_5468_420_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3eac52ef19233bf3b097a87036696083f62a7816
--- /dev/null
+++ b/waymo_multi_view/segment-17761959194352517553_5448_420_5468_420_with_camera_labels/camera.xml
@@ -0,0 +1,669 @@
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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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+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
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+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="90.369"/>
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+      <property name="AlignCameras/ram_used" value="211243008"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.196086335396137"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-17761959194352517553_5448_420_5468_420_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-17761959194352517553_5448_420_5468_420_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e023d697f07b68b65da6fb8e24825cb36a924d3
--- /dev/null
+++ b/waymo_multi_view/segment-17761959194352517553_5448_420_5468_420_with_camera_labels/cams_meta.npy
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+size 26048
diff --git a/waymo_multi_view/segment-3425716115468765803_977_756_997_756_with_camera_labels/camera.xml b/waymo_multi_view/segment-3425716115468765803_977_756_997_756_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..012ec8ed24eab5d66456dbc45204a4b37d552387
--- /dev/null
+++ b/waymo_multi_view/segment-3425716115468765803_977_756_997_756_with_camera_labels/camera.xml
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+      </camera>
+    </cameras>
+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
+      <center>-1.5251971165749056 2.0372966644501957 -2.3161639329940025</center>
+      <size>51.902100086212158 46.288388538360593 18.766528511047365</size>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
+    </settings>
+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="66.938"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="216408064"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.197797248835654"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-3425716115468765803_977_756_997_756_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-3425716115468765803_977_756_997_756_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..877e0171eec5309cffee39bbe7a2243b600746a5
--- /dev/null
+++ b/waymo_multi_view/segment-3425716115468765803_977_756_997_756_with_camera_labels/cams_meta.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:525d31beb3589a4a1884c57010b17a5c5692cbbbb9364a5937453f5e64105a68
+size 26048
diff --git a/waymo_multi_view/segment-3988957004231180266_5566_500_5586_500_with_camera_labels/camera.xml b/waymo_multi_view/segment-3988957004231180266_5566_500_5586_500_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5d4a8830c705feb5fc03c8811b1bc177cda9df45
--- /dev/null
+++ b/waymo_multi_view/segment-3988957004231180266_5566_500_5586_500_with_camera_labels/camera.xml
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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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+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
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+    <meta>
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+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="68.952"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="212967424"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.201234522085473"/>
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+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-3988957004231180266_5566_500_5586_500_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-3988957004231180266_5566_500_5586_500_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3245ce5ccf469b56d0e6ed59232adb5333636a5d
--- /dev/null
+++ b/waymo_multi_view/segment-3988957004231180266_5566_500_5586_500_with_camera_labels/cams_meta.npy
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diff --git a/waymo_multi_view/segment-4058410353286511411_3980_000_4000_000_with_camera_labels/camera.xml b/waymo_multi_view/segment-4058410353286511411_3980_000_4000_000_with_camera_labels/camera.xml
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--- /dev/null
+++ b/waymo_multi_view/segment-4058410353286511411_3980_000_4000_000_with_camera_labels/camera.xml
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+      </camera>
+    </cameras>
+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
+      <center>5.1720496187994875 1.1909280947490877 -5.7846440305254996</center>
+      <size>45.459167321523033 35.376131375630692 14.627619012196858</size>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
+    </settings>
+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="64.351"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="203337728"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.247950246778014"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-4058410353286511411_3980_000_4000_000_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-4058410353286511411_3980_000_4000_000_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4427ef78c29d8dfade4ef16b8ea5da43ac872987
--- /dev/null
+++ b/waymo_multi_view/segment-4058410353286511411_3980_000_4000_000_with_camera_labels/cams_meta.npy
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+oid sha256:d82939cefbed296fd6b5e623a88c41017bfa33331900de06f5c25cc49c125c66
+size 26048
diff --git a/waymo_multi_view/segment-8811210064692949185_3066_770_3086_770_with_camera_labels/camera.xml b/waymo_multi_view/segment-8811210064692949185_3066_770_3086_770_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..7144d019e6d1ff0c557801f78505b6a9207ebed6
--- /dev/null
+++ b/waymo_multi_view/segment-8811210064692949185_3066_770_3086_770_with_camera_labels/camera.xml
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+      </camera>
+    </cameras>
+    <reference>LOCAL_CS["Local Coordinates (m)",LOCAL_DATUM["Local Datum",0],UNIT["metre",1,AUTHORITY["EPSG","9001"]]]</reference>
+    <region>
+      <center>-23.39054221734742 2.0141800314096838 -32.042294510243337</center>
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+    </region>
+    <settings>
+      <property name="accuracy_tiepoints" value="1"/>
+      <property name="accuracy_cameras" value="10"/>
+      <property name="accuracy_cameras_ypr" value="10"/>
+      <property name="accuracy_markers" value="0.0050000000000000001"/>
+      <property name="accuracy_scalebars" value="0.001"/>
+      <property name="accuracy_projections" value="0.5"/>
+    </settings>
+    <meta>
+      <property name="AlignCameras/adaptive_fitting" value="false"/>
+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="78.713"/>
+      <property name="AlignCameras/min_image" value="2"/>
+      <property name="AlignCameras/point_clouds" value=""/>
+      <property name="AlignCameras/ram_used" value="199610368"/>
+      <property name="AlignCameras/reset_alignment" value="false"/>
+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.215240429097003"/>
+    </meta>
+  </chunk>
+</document>
diff --git a/waymo_multi_view/segment-8811210064692949185_3066_770_3086_770_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-8811210064692949185_3066_770_3086_770_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f3182abe4f4f035d84e690f5ffa98fd11b139b34
--- /dev/null
+++ b/waymo_multi_view/segment-8811210064692949185_3066_770_3086_770_with_camera_labels/cams_meta.npy
@@ -0,0 +1,3 @@
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+oid sha256:bd98b326a5bdc0f51e34ca66079e7a639b833ae4b5c29720407ede39cc8aa3e8
+size 26048
diff --git a/waymo_multi_view/segment-9385013624094020582_2547_650_2567_650_with_camera_labels/camera.xml b/waymo_multi_view/segment-9385013624094020582_2547_650_2567_650_with_camera_labels/camera.xml
new file mode 100644
index 0000000000000000000000000000000000000000..51468c48a5979636629da1827c5882c337a20b21
--- /dev/null
+++ b/waymo_multi_view/segment-9385013624094020582_2547_650_2567_650_with_camera_labels/camera.xml
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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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+    <meta>
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+      <property name="AlignCameras/cameras" value=""/>
+      <property name="AlignCameras/duration" value="77.913"/>
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+      <property name="AlignCameras/ram_used" value="194191360"/>
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+      <property name="AlignCameras/subdivide_task" value="true"/>
+      <property name="OptimizeCameras/sigma0" value="0.212387801764508"/>
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+</document>
diff --git a/waymo_multi_view/segment-9385013624094020582_2547_650_2567_650_with_camera_labels/cams_meta.npy b/waymo_multi_view/segment-9385013624094020582_2547_650_2567_650_with_camera_labels/cams_meta.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f0fe46af6060805a30d3ff984cad12e72d94d056
--- /dev/null
+++ b/waymo_multi_view/segment-9385013624094020582_2547_650_2567_650_with_camera_labels/cams_meta.npy
@@ -0,0 +1,3 @@
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