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"
new file mode 100644--- /dev/null
+++ "b/waymo_multi_view/segment-16345319168590318167_1420_000_1440_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>2079.2506386952173</f>
+          <cx>8.2389750130325421</cx>
+          <cy>-10.306722173541168</cy>
+          <k1>0.07038102707432016</k1>
+          <k2>-0.57625478404223651</k2>
+          <k3>0.60798175045914926</k3>
+          <p1>8.7822825929277458e-05</p1>
+          <p2>-0.00013491154953641565</p2>
+        </calibration>
+        <covariance>
+          <params>f cx cy k1 k2 k3 p1 p2</params>
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