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"
new file mode 100644--- /dev/null
+++ "b/waymo_multi_view/segment-15270638100874320175_2720_000_2740_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>2074.9928010163035</f>
+          <cx>-7.588202737061831</cx>
+          <cy>10.648573367577139</cy>
+          <k1>0.070992190878355496</k1>
+          <k2>-0.5210974634962825</k2>
+          <k3>0.45584028785566727</k3>
+          <p1>0.00015074481388369575</p1>
+          <p2>0.0014489641217110103</p2>
+        </calibration>
+        <covariance>
+          <params>f cx cy k1 k2 k3 p1 p2</params>
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