diff --git a/t1z5b/pose/camera_calibration.xml b/t1z5b/pose/camera_calibration.xml
index d48090f64b38b149055693f1de3ab62fcbff030b..ae2c8b750e738cb9777bbd219b342296ab70c64b 100644
--- a/t1z5b/pose/camera_calibration.xml
+++ b/t1z5b/pose/camera_calibration.xml
@@ -3,14 +3,16 @@
   <projection>frame</projection>
   <width>5280</width>
   <height>3956</height>
-  <f>3719.8602855282802</f>
-  <cx>-11.778593823815203</cx>
-  <cy>-46.570360032897419</cy>
-  <b1>-1.501842762397301</b1>
-  <k1>-0.11104823720947964</k1>
-  <k2>0.0037616126950294165</k2>
-  <k3>-0.017907881620951333</k3>
-  <p1>-0.00019014437982138048</p1>
-  <p2>-0.00028527539081321716</p2>
-  <date>2025-04-23T10:47:17Z</date>
+  <f>3713.1501468063243</f>
+  <cx>-11.472627738112207</cx>
+  <cy>-42.945062016300383</cy>
+  <b1>-2.5106128201512221</b1>
+  <b2>-0.91309369470088531</b2>
+  <k1>-0.087157811543294231</k1>
+  <k2>-0.10746081684123861</k2>
+  <k3>0.17414507555358461</k3>
+  <k4>-0.10969468786740524</k4>
+  <p1>-0.0001454503698423628</p1>
+  <p2>-0.00035942034001182436</p2>
+  <date>2025-05-05T15:10:46Z</date>
 </calibration>
diff --git a/t1z5b/pose/cameras_pose.txt b/t1z5b/pose/cameras_pose.txt
index abac05e787650d1ef233038fa22038ad065e4a89..7ac19f1ee6819dcb9a23c3c17339eeb2b3cf4b25 100644
--- a/t1z5b/pose/cameras_pose.txt
+++ b/t1z5b/pose/cameras_pose.txt
@@ -1,135 +1,135 @@
 # Cameras (133)
 # PhotoID, X, Y, Z, Omega, Phi, Kappa, r11, r12, r13, r21, r22, r23, r31, r32, r33
-DJI_20240705104029_0003_D	383153.3891418344574049	5099773.6491019716486335	1931.4582213774845059	-40.5219758742264631	2.2380450221008612	177.7633534085466920	-0.9984759463563381	0.0550204515239143	0.0043051668864110	-0.0389971639279645	-0.7585874564935531	0.6504031765422256	0.0390513220440845	0.6492440379123601	0.7595769700839169
-DJI_20240705104031_0004_D	383153.3609966682852246	5099771.4437797619029880	1931.5180980815480325	-40.4439008570297389	2.1290173553027167	177.7649507460055815	-0.9985494792839792	0.0537607836053397	0.0029522140562649	-0.0389721550864829	-0.7595226737024614	0.6493123125736796	0.0371498122419129	0.6482554174690744	0.7605161439262066
-DJI_20240705104033_0005_D	383152.9697636801283807	5099765.1724770143628120	1931.6450251594801557	-40.3495949972720140	2.0597391042090720	177.7699254410533456	-0.9985970143801709	0.0529080756241655	0.0021767877151530	-0.0388871755529362	-0.7606254852903478	0.6480251991275792	0.0359414864540195	0.6470313799658951	0.7616157842973743
-DJI_20240705104035_0006_D	383152.5794693868956529	5099758.8513829465955496	1931.7567309372254840	-40.4178692427413679	2.0324643166033471	177.7675561007698377	-0.9986123887013706	0.0526338441131232	0.0017249887009632	-0.0389291323539344	-0.7598625782623183	0.6489170862373035	0.0354657551211440	0.6479494892431181	0.7608571742470919
-DJI_20240705104037_0007_D	383152.1772231504437514	5099752.9196480559185147	1931.8750710546071332	-40.4646771596991854	2.0019001617437779	177.7632658596569684	-0.9986282334690546	0.0523463769184833	0.0012280643241042	-0.0390046400063442	-0.7593417501481263	0.6495219353801350	0.0349326405593913	0.6485830427211992	0.7603418621370651
-DJI_20240705104039_0008_D	383151.7661420946242288	5099747.0463844295591116	1931.9724051845958002	-40.5039687593093305	1.9888916887046943	177.7478894386142656	-0.9986256291309175	0.0524036093851064	0.0008453202308523	-0.0392729502874978	-0.7588878659982274	0.6500360314754654	0.0347057375457620	0.6491094426705480	0.7599029169685658
-DJI_20240705104041_0009_D	383151.3664753504563123	5099741.0432934481650591	1932.0761510779309447	-40.5335314263675315	1.9736251965117855	177.7445888225361443	-0.9986325698421920	0.0522748093643869	0.0005785812794834	-0.0393308401936358	-0.7585561591764082	0.6504195864095719	0.0344394462795603	0.6495074269640438	0.7595748987812225
-DJI_20240705104043_0010_D	383150.7918014480965212	5099732.7415166990831494	1932.2434061425863092	-40.4763558561534538	1.9155377576384947	177.7184143124710545	-0.9986488724884539	0.0519638262069150	-0.0004361690925608	-0.0397884123231574	-0.7592070610754157	0.6496318347018044	0.0334262131020292	0.6487714537332604	0.7602488336712461
-DJI_20240705104045_0011_D	383150.0742754333768971	5099719.9213121728971601	1932.4163614312317350	-40.4628157362207119	1.8867965921036980	177.6983137395125425	-0.9986514807677288	0.0519052323972273	-0.0010328650504322	-0.0401394253967534	-0.7593553505088214	0.6494368931485517	0.0329248612638099	0.6486025736176314	0.7604147914180416
-DJI_20240705104047_0012_D	383149.7999199665500782	5099704.2130560725927353	1932.5429141047532084	-40.5674201474506617	1.1042674736019185	178.5951260499803084	-0.9995137431257416	0.0311538628182108	-0.0013092495076326	-0.0245126657960337	-0.7591056066468292	0.6505058087157419	0.0192719100854363	0.6502215889901335	0.7595001505548271
-DJI_20240705104049_0013_D	383149.4911979616153985	5099687.7634554002434015	1932.7217471901560657	-40.6755136236549575	0.6182080004743243	179.1504661728954204	-0.9998318770894697	0.0182762825641229	-0.0014815705801846	-0.0148257560751232	-0.7582253217921335	0.6518240240663247	0.0107895557160019	0.6517364029182755	0.7583688064514514
-DJI_20240705104051_0014_D	383147.5704956520348787	5099673.1246250076219440	1933.1481751512110350	-40.6894068833024036	3.6215249674676180	175.7197416396274718	-0.9952195471313774	0.0976588362118916	-0.0008970603965907	-0.0744860944180312	-0.7530664769339454	0.6537145424852076	0.0631654553214373	0.6506563094507226	0.7567407034288568
-DJI_20240705104052_0015_D	383146.1981740883784369	5099667.1017153551802039	1933.3562937365329617	-40.4910252158363022	5.9117978698500160	173.1265182914917489	-0.9875326925404712	0.1574140332859938	0.0000573445968945	-0.1190408581870837	-0.7470378733722653	0.6540364590980583	0.1029973555284291	0.6458755591227147	0.7564630241340757
-DJI_20240705104053_0016_D	383145.7155258696875535	5099665.9573238752782345	1933.4229476537464052	-40.3067223443293585	6.8048587047167102	172.0053269212720295	-0.9833049333610304	0.1819647472910327	-0.0004886421693162	-0.1381012714776859	-0.7445205863391736	0.6531593491127722	0.1184881717476720	0.6423222923583488	0.7572203285011638
-DJI_20240705104054_0017_D	383145.0355395299848169	5099665.3567024320363998	1933.3851385357324943	-37.9547903318757420	15.1778197935525849	161.0750476501228263	-0.9129477017078316	0.4080550251651555	-0.0041940891563795	-0.3130161239716183	-0.6936477370944854	0.6487478115242354	0.2618155841048668	0.5935856410503583	0.7609919097195863
-DJI_20240705104055_0018_D	383143.1435519761871547	5099663.0566425127908587	1933.3654131105138276	-38.1903030224978437	13.6005350655443902	162.9835370973547413	-0.9294071370670444	0.3690320713797379	-0.0042075957529071	-0.2844403126437408	-0.7090053634131596	0.6452945863669594	0.2351511899012449	0.6009382039316135	0.7639222427338239
-DJI_20240705104056_0019_D	383143.0929545131511986	5099661.9605547115206718	1933.3723892487269040	-40.0920407018288572	0.4723299384113574	179.4343226096094099	-0.9999172854431267	0.0128615535258210	-0.0000520859991154	-0.0098724371045096	-0.7649211733649668	0.6440482385066976	0.0082436192092057	0.6439954805577945	0.7649848781273190
-DJI_20240705104057_0020_D	383145.7192282116157003	5099658.7714349236339331	1933.3767221267598870	-30.4774691913729292	-27.1129137306343573	-142.0114688526472548	-0.7015260170274077	-0.7126390117209414	0.0026241964603581	0.5478660893695482	-0.5369603675389305	0.6414953716211633	-0.4557455381598154	0.4514634012473847	0.7671224164248904
-DJI_20240705104057_0021_D	383146.8706206836504862	5099658.2972424319013953	1933.3677513391460252	-23.5605084150914017	-33.1621752158509153	-128.3138840668570140	-0.5189920829082308	-0.8547745603276298	0.0027692770327592	0.6568306569850789	-0.3967293549494709	0.6412326465222475	-0.5470107000078935	0.3346136129001392	0.7673415303101938
-DJI_20240705104059_0022_D	383151.3660559181589633	5099658.9756367374211550	1933.3596053066291915	11.5960437473816445	-38.3847595869695937	-71.5186345788910387	0.2484802232967130	-0.9686345291764695	0.0021742855135367	0.7434325557935244	0.1921479785385605	0.6406146964672709	-0.6209392994622943	-0.1575636481889904	0.7678594162687932
-DJI_20240705104101_0023_D	383154.0482946072006598	5099664.1699669715017080	1933.3612890713350225	39.1126171931633664	-8.7197964144021523	-10.3006957747323824	0.9725107206861883	-0.2328396825447912	0.0029292290575352	0.1767473511414671	0.7463007011886580	0.6417130490100640	-0.1516023483159347	-0.6235550862897025	0.7669392298920014
-DJI_20240705104103_0024_D	383151.0467354300781153	5099668.8024458484724164	1933.3146667240227998	36.3588024572185233	17.6528392107988914	22.6325837574005391	0.8795291534861872	0.4758371681131167	0.0027308624941016	-0.3666996404305206	0.6741215580252392	0.6411641745401494	0.3032488118294917	-0.5649239899736195	0.7673988817272848
-DJI_20240705104103_0025_D	383150.6939866230823100	5099669.8020095555111766	1933.2384435509777632	38.9076823003375907	9.8904828147291539	12.3075789266646929	0.9624968284370582	0.2712729869064030	0.0032896540066222	-0.2099916194508143	0.7372790953580420	0.6421238629022062	0.1717654651233151	-0.6187329812794092	0.7665938447887939
-DJI_20240705104104_0026_D	383150.5083197648636997	5099672.1211200496181846	1933.1245547162272942	39.8129143458780064	4.1435961270746144	5.2519489036775227	0.9931988803399875	0.1163822899773818	0.0033386630581861	-0.0912962253577756	0.7606795886528704	0.6426753166586703	0.0722563722229227	-0.6386092122624921	0.7661313795209422
-DJI_20240705104106_0027_D	383151.1345730278408155	5099679.9822893999516964	1932.9641051558051004	40.0241367258494662	-0.7373697219719003	-0.5868079020845069	0.9998647470339981	-0.0161185731433867	0.0032679104119859	0.0102407028057021	0.7656486670820322	0.6431774612045675	-0.0128691742036848	-0.6430570038459491	0.7657101763461071
-DJI_20240705104108_0028_D	383152.3244384148856625	5099692.1918085981160402	1932.8868650021381654	40.0958006516599426	-2.7203309068529782	-2.9570343839330251	0.9975430974894476	-0.0699898169508770	0.0030321896941591	0.0515289441876068	0.7623731377703618	0.6450829146063966	-0.0474608950828917	-0.6433417632404693	0.7641065626655583
-DJI_20240705104110_0029_D	383152.7533751032315195	5099700.7134471070021391	1932.6744305481308857	40.1322510479070047	-2.6575902599157732	-2.9108955203784661	0.9976355750016325	-0.0686739999238078	0.0026723071730469	0.0507282397976099	0.7620545139907912	0.6455227055598399	-0.0463670699764236	-0.6438608540987129	0.7637364043837884
-DJI_20240705104112_0030_D	383153.1668607705505565	5099707.2740570558235049	1932.5695247346066026	40.2055893005598577	-2.5863662738825441	-2.8624305255798275	0.9977349235841004	-0.0672328209769579	0.0021840430649362	0.0498871878394640	0.7613254759823483	0.6464478231920355	-0.0451252783935934	-0.6448746137069835	0.7629550719709317
-DJI_20240705104114_0031_D	383153.5585268478607759	5099712.8314225021749735	1932.4777976197833596	40.2007752909446623	-2.5136694544392011	-2.8284283741861467	0.9978207354278128	-0.0659636236125815	0.0016063343975394	0.0492978593863883	0.7614599254344379	0.6463346679679968	-0.0438577360361776	-0.6448469448770604	0.7630523682372675
-DJI_20240705104116_0032_D	383154.0028479847824201	5099718.7316823769360781	1932.3919498912161998	40.1969601034406949	-2.5083218976482242	-2.8473024598894079	0.9978085257895806	-0.0661542571263509	0.0013266972844650	0.0496267568806097	0.7614841803549867	0.6462809203980937	-0.0437644931781109	-0.6447987727447647	0.7630984286471234
-DJI_20240705104118_0033_D	383154.4284217129461467	5099725.6937179639935493	1932.2301914231368301	40.1221054387412863	-2.4881497416728977	-2.8809858450710695	0.9977945053653254	-0.0663742390804696	0.0007651465573594	0.0502141172353943	0.7623002413472293	0.6452727210042479	-0.0434127572613829	-0.6438111543212379	0.7639519160775234
-DJI_20240705104120_0034_D	383155.2184953152900562	5099737.6246044673025608	1932.0464771678250600	39.8804324904605423	-2.4540464366422268	-2.8938942937350989	0.9978087972771592	-0.0661619703195492	0.0004447018603768	0.0504402096355650	0.7650194827463979	0.6420287970724945	-0.0428180958034088	-0.6405995509691440	0.7666803936255978
-DJI_20240705104122_0035_D	383156.1553694871836342	5099752.1108777634799480	1931.7871330841787767	39.5150335976757319	-2.4066552332682227	-2.9115460424389212	0.9978282394469825	-0.0658695941264520	0.0000336415176490	0.0507493948822040	0.7691046710086076	0.6371047825529423	-0.0419917072911482	-0.6357194362313912	0.7707772018660236
-DJI_20240705104124_0036_D	383157.1840785648091696	5099768.2067285738885403	1931.5269929185965339	39.3276960287884449	-2.3427565137773252	-2.8723671427814312	0.9979088601958187	-0.0646364842025512	-0.0001779118194722	0.0500693829482185	0.7712639193675891	0.6345431613160208	-0.0408774220550527	-0.6332251507889421	0.7728874075662343
-DJI_20240705104126_0037_D	383158.2059483677148819	5099784.4417168479412794	1931.2381976337783271	39.2089863459003851	-2.2966923397567536	-2.8450159313621972	0.9979651493037824	-0.0637607138249109	-0.0003635211371358	0.0495946219864852	0.7726329296800363	0.6329128924615629	-0.0400741094111532	-0.6316430379150728	0.7742229255248912
-DJI_20240705104128_0038_D	383159.1887942499597557	5099800.4551156759262085	1930.9503146076115172	39.1013894620695552	-2.2670126881886414	-2.8362676799195365	0.9979933094360148	-0.0633170862952595	-0.0005485471988785	0.0494432668584182	0.7738460059128902	0.6314409889253582	-0.0395565125272447	-0.6302010042167069	0.7754237400292411
-DJI_20240705104130_0039_D	383160.1990579245029949	5099816.1128034824505448	1930.6674904125657122	39.0359026035872105	-2.2187398919065662	-2.7994190205235459	0.9980578346388964	-0.0622899256520410	-0.0007237942941794	0.0488030271737226	0.7746336699052685	0.6305243389336981	-0.0387146387636263	-0.6293350797558953	0.7761691401582795
-DJI_20240705104132_0040_D	383161.3162185127730481	5099832.1608609845861793	1930.3959656109077514	38.9853788638663588	-2.1857762183085883	-2.7948950488892916	0.9980837667381881	-0.0618680800770387	-0.0010654770253767	0.0487253001798701	0.7752119203932545	0.6298192785256610	-0.0381397390669119	-0.6286643135631157	0.7767409742997498
-DJI_20240705104134_0041_D	383162.3541588507941924	5099848.0159028172492981	1930.1044022027942901	38.9584239600970150	-2.1632572786548780	-2.7813949424265503	0.9981101150509625	-0.0614391955334081	-0.0011930989741330	0.0484908526811303	0.7755346732122628	0.6294399159981880	-0.0377469924525312	-0.6283082013612085	0.7770482408853594
-DJI_20240705104136_0042_D	383163.4846635014400817	5099864.1692331535741687	1929.8599388246843773	38.9557544717845445	-2.1462268193485792	-2.7654740834859726	0.9981347134049474	-0.0610372120135767	-0.0012460520186675	0.0482140437524145	0.7755900512552163	0.6293929443352312	-0.0374499650342145	-0.6282790233196877	0.7770862043399016
-DJI_20240705104138_0043_D	383164.4838869699160568	5099880.0620295554399490	1929.5606023922032364	38.9430146152678915	-2.1501702821074060	-2.7646729830909527	0.9981328105177664	-0.0610698213521691	-0.0011702512203129	0.0481999635489572	0.7757287473161039	0.6292230718125867	-0.0375187430730800	-0.6281045991770818	0.7772238779211649
-DJI_20240705104140_0044_D	383165.5247509678010829	5099895.9722036309540272	1929.2901912655470369	38.9239563793871710	-2.1486514525020972	-2.7557035632361462	0.9981413368620776	-0.0609321124985770	-0.0010720604673399	0.0480437571509462	0.7759483531708626	0.6289641886548452	-0.0374922531465619	-0.6278466619150632	0.7774335341854675
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diff --git a/t3z3/masks/DJI_20240919100341_0003_D.png b/t3z3/masks/DJI_20240919100341_0003_D.png
index dfc793ae40a1503a5c23e4c6f5a1c0131580d3d3..2a636194577a226a708ac1a1b3edf5a6797f4ba5 100644
--- a/t3z3/masks/DJI_20240919100341_0003_D.png
+++ b/t3z3/masks/DJI_20240919100341_0003_D.png
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+++ b/t3z3/masks/DJI_20240919100741_0132_D.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:57cd4e0d03064570c71b8ccdd3ccb22a3b6d12421c2feccc30067246700e580c
-size 96709
+oid sha256:06170d306a082d3f22189c9fb60ba300dd185ee49f3f9a70519622aaad77c9cb
+size 96787
diff --git a/t3z3/masks/DJI_20240919100745_0134_D.png b/t3z3/masks/DJI_20240919100745_0134_D.png
index 003df9f98b7f514e9dcb49ab7e6c08d3bd6f0077..ecb77cabb2dc80fb404a57e9d92b6325b3645fb7 100644
--- a/t3z3/masks/DJI_20240919100745_0134_D.png
+++ b/t3z3/masks/DJI_20240919100745_0134_D.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4df605d56720565e959c3555da9477753c4d19633212b9c3472c2a2340fbf422
-size 93438
+oid sha256:e2e1852f81bcfa1a1b9a7c4aab0e84d5b01cd61cd33aa689d89012be1a013560
+size 93294
diff --git a/t3z3/pose/camera_calibration.xml b/t3z3/pose/camera_calibration.xml
index 15e1d521ccde413649ff34fd1e8ffcc7c5bc965f..6f50a8b0b5d46be941e33617077b209ee9250f2f 100644
--- a/t3z3/pose/camera_calibration.xml
+++ b/t3z3/pose/camera_calibration.xml
@@ -3,13 +3,13 @@
   <projection>frame</projection>
   <width>5280</width>
   <height>3956</height>
-  <f>3720.4182831462022</f>
-  <cx>-11.77873895261367</cx>
-  <cy>-52.024741797556203</cy>
-  <k1>-0.10972612594191777</k1>
-  <k2>0.0018414803626598773</k2>
-  <k3>-0.016857833237700036</k3>
-  <p1>-0.00019089266210807701</p1>
-  <p2>-0.00022995880630589114</p2>
-  <date>2025-04-23T11:16:30Z</date>
+  <f>3720.6568986857501</f>
+  <cx>-11.739670507979987</cx>
+  <cy>-51.562039795179508</cy>
+  <k1>-0.10973184011321253</k1>
+  <k2>0.0017806451299375095</k2>
+  <k3>-0.016846421676039038</k3>
+  <p1>-0.00018637138872792749</p1>
+  <p2>-0.0001979624045654377</p2>
+  <date>2025-05-05T13:59:52Z</date>
 </calibration>
diff --git a/t3z3/pose/cameras_pose.txt b/t3z3/pose/cameras_pose.txt
index 6afedfb347765d112463b78948d9674a8e31b7b5..ebb942d3f9cb8be5c8b6ce82f4fad23e1587de70 100644
--- a/t3z3/pose/cameras_pose.txt
+++ b/t3z3/pose/cameras_pose.txt
@@ -1,134 +1,134 @@
 # Cameras (132)
 # PhotoID, X, Y, Z, Omega, Phi, Kappa, r11, r12, r13, r21, r22, r23, r31, r32, r33
-DJI_20240919100341_0003_D	318923.7795338053256273	5187194.8884008778259158	619.9332246585701114	34.8108909786880432	-23.7071807672309447	-29.9373951891515553	0.7934431875946177	-0.6086431969775836	0.0011691161612891	0.4569394146620172	0.5969448624815791	0.6594415838307304	-0.4020625316888227	-0.5226952170526866	0.7517549006705706
-DJI_20240919100343_0004_D	318925.0379760947544128	5187196.5555748706683517	620.0489276039078277	34.7929818424599944	-23.6439840524162790	-30.0133545943056390	0.7932202301757669	-0.6089348176674707	-0.0002329639198317	0.4582124600312770	0.5966318499731913	0.6588412381368163	-0.4010523755221865	-0.5227129455349770	0.7522819741680371
-DJI_20240919100345_0005_D	318928.1177895172731951	5187200.4166082600131631	620.3114127525750519	34.8128562455991997	-23.6030370676420702	-30.0423010566549458	0.7932365432617748	-0.6089123439502629	-0.0012425051739407	0.4587565192580211	0.5962827050296005	0.6587787122553731	-0.4003976054778245	-0.5231373558326525	0.7523357391883263
-DJI_20240919100347_0006_D	318932.1742847883142531	5187205.3566630147397518	620.6442099194131288	34.8426793451694223	-23.6198170031710220	-30.0771706725330503	0.7928556946879091	-0.6094068547104613	-0.0017699810325730	0.4591804021196743	0.5954921993686429	0.6591983000587237	-0.4006659527713423	-0.5234618667324294	0.7519670660120916
-DJI_20240919100349_0007_D	318936.0843115476891398	5187210.1324912086129189	620.9400448046097836	34.8490671860410188	-23.6584217514466815	-30.1245828488257708	0.7922417735124936	-0.6102042182599980	-0.0019453327436669	0.4597007390462902	0.5947372004126639	0.6595171665435263	-0.4012831952899020	-0.5233913205843325	0.7516869845320693
-DJI_20240919100351_0008_D	318939.8085974465357140	5187214.7657813476398587	621.2301353101254335	34.8669740709525797	-23.6752699276839778	-30.1344695046545148	0.7920603518834831	-0.6104393175867376	-0.0020587662448741	0.4597781777924126	0.5943484519027131	0.6598135683257336	-0.4015525198527606	-0.5235587428981455	0.7514265210483406
-DJI_20240919100353_0009_D	318943.5510148559696972	5187219.3985694060102105	621.5434677007580149	34.8659981779622470	-23.6799957088723367	-30.1523403756139388	0.7918882644764578	-0.6106620457016156	-0.0022005735574432	0.4600085655500390	0.5941475716840883	0.6598339053750549	-0.4016280570441501	-0.5235270088557220	0.7514082610628671
-DJI_20240919100355_0010_D	318947.2864858745597303	5187224.0495210578665137	621.8514641785729964	34.8533071799843555	-23.6927587577329284	-30.1820963690717043	0.7915719002993881	-0.6110718488920888	-0.0022632162998191	0.4603747725774244	0.5939178795876818	0.6597852840738090	-0.4018320487849376	-0.5233094187931990	0.7514507680291664
-DJI_20240919100357_0011_D	318951.0885973803815432	5187228.7152403658255935	622.1736598264010354	34.8440819016647438	-23.6852459666172130	-30.1771688276073284	0.7916570323145558	-0.6109618095237549	-0.0021932830117713	0.4603331759627764	0.5941111415605624	0.6596402948438105	-0.4017119742986688	-0.5232185191457430	0.7515782533628828
-DJI_20240919100359_0012_D	318955.1812578004319221	5187233.6925103496760130	622.5085672338157110	34.7932036361633976	-23.6131117497569853	-30.2669204102620171	0.7913711476945184	-0.6113259754367087	-0.0035011930848851	0.4618272556470056	0.5940705664281574	0.6586317241412566	-0.4005587254551027	-0.5228390898355680	0.7524573035074477
-DJI_20240919100401_0013_D	318962.4522960437461734	5187242.6079552648589015	623.1232465774793354	34.6005886899372612	-23.4700523097203160	-30.3926731397620351	0.7912158575226220	-0.6115203221879369	-0.0045124667205102	0.4640675905919608	0.5955957985460403	0.6556728727928871	-0.3982696802003819	-0.5208728638597586	0.7550316029992514
-DJI_20240919100403_0014_D	318971.0037853164831176	5187253.8693542759865522	623.6217998812544465	34.8985088044513674	-23.0487679306414144	-29.7310331259829645	0.7990432997714834	-0.6012535557233281	-0.0048955919309599	0.4563400195015465	0.6011168474213613	0.6560581699419133	-0.3915144846511148	-0.5264529394696726	0.7546944486559535
-DJI_20240919100405_0015_D	318980.5399869809625670	5187267.1905681956559420	624.0607271859811362	35.4473288176565049	-22.2518402043972365	-28.4530877381169347	0.8137314627024541	-0.5812187514731426	-0.0050862111758864	0.4409578425520104	0.6116118157618284	0.6568768285701633	-0.3786783433205559	-0.5367641472346312	0.7539807441463469
-DJI_20240919100407_0016_D	318990.7866854447638616	5187279.5823337873443961	625.0295244058472690	34.9524366200322518	-23.2881243910758968	-29.9378115724803955	0.7959668948708153	-0.6053186420038477	-0.0051033236552934	0.4584005062990514	0.5972272198450579	0.6581706645703045	-0.3953551290858463	-0.5262214263204805	0.7528514676792185
-DJI_20240919100409_0017_D	318998.5336807082640007	5187286.9622749583795667	626.0779470413599483	32.7314920149549806	-26.6403372802501472	-35.0841718434728378	0.7314359049592397	-0.6819068815041341	-0.0021264744920303	0.5137599535770695	0.5490200800795391	0.6592629686020172	-0.4483884778146578	-0.4833011034818395	0.7519094468992198
-DJI_20240919100411_0018_D	319000.8669365018140525	5187288.7464841268956661	626.4196883266760096	30.8503960931839849	-28.6715319289176414	-39.0419070785984346	0.6814519067819270	-0.7318563839293628	-0.0030874010288935	0.5526546303009655	0.5118174372548449	0.6577353347120604	-0.4797876179625515	-0.4499212644715965	0.7532427878354366
-DJI_20240919100411_0019_D	319001.7092444936279207	5187288.7500913962721825	626.3752788932888507	24.1351555616715387	-33.9162759589179217	-51.8566322075433135	0.5125437210943502	-0.8586319497306444	-0.0070787617920803	0.6526532660627196	0.3842051156209024	0.6530161892544428	-0.5579808672924386	-0.3393193245786057	0.7573108659613285
-DJI_20240919100412_0020_D	319004.6191680423798971	5187289.6403267495334148	626.3137584514767013	27.1571604860600608	-31.2212450021054053	-45.8654173705616657	0.5954957847303480	-0.8033327052565855	-0.0064292327320777	0.6137622700970486	0.4497778904685400	0.6488418336166278	-0.5183441387473238	-0.3903285973520336	0.7608961426604089
-DJI_20240919100413_0021_D	319005.1760409818962216	5187290.3945400370284915	626.2918604521523775	34.5249816620471464	-22.3108568203527931	-29.0571678854246187	0.8086958341747613	-0.5882240840450182	-0.0018640648558268	0.4493228195433005	0.6156817176886038	0.6473368723791884	-0.3796314681714965	-0.5243361988776003	0.7622017442387180
-DJI_20240919100414_0022_D	319004.9434848349774256	5187294.5287122977897525	626.2814434554391028	39.7602669175652537	5.7763410152421502	7.0251037934640950	0.9874531325944904	0.1579058331526016	0.0014348469292477	-0.1216831920710337	0.7550833569943832	0.6442377858814996	0.1006454752918962	-0.6363292165589094	0.7648239120587126
-DJI_20240919100415_0023_D	319004.0622153836884536	5187295.8270944906398654	626.2875502608715124	37.3355039393797981	15.6335396949852132	19.6482132147397337	0.9069338664381262	0.4212676121451866	0.0021356181970609	-0.3238048135546454	0.6938484772523213	0.6432143758759412	0.2694835887886912	-0.5840444243138770	0.7656831628039363
-DJI_20240919100416_0024_D	319000.1322961404221132	5187297.7196695823222399	626.3003152847207957	16.4404374332618133	37.0639665163915026	64.0736080053191728	0.3488823300237525	0.9371648180391772	0.0017954461267249	-0.7176533126665806	0.2659307723680188	0.6436260926395327	0.6027062656185689	-0.2258382787247220	0.7653379836691593
-DJI_20240919100418_0025_D	318995.0790653345175087	5187294.9989032717421651	626.3241847209322941	-29.0211523845484578	28.9892060859197649	139.0512637262882834	-0.6606659722084685	0.7506769524036324	0.0021415638758342	-0.5732711833788251	-0.5063699967001462	0.6441657991148982	0.4846448426149614	0.4243507270783085	0.7648828910067414
-DJI_20240919100420_0026_D	318994.9116002595401369	5187289.5200295345857739	626.2599687246913618	-39.8179026146514872	4.2652871476173537	174.9665127940460536	-0.9933846461723693	0.1148321497265394	0.0007225912946487	-0.0874949646556339	-0.7609428470418823	0.6428923818927275	0.0743745649325546	0.6385761982136327	0.7659561757477492
-DJI_20240919100420_0027_D	318994.7042662479216233	5187288.4938284624367952	626.0912781161219982	-38.5690544352527098	11.5898481450119100	166.0380721583226773	-0.9506694985627158	0.3101990601547402	0.0020118602412547	-0.2363576637193776	-0.7285370952733538	0.6429375985364225	0.2009043536204035	0.6107456458213848	0.7659159201939778
-DJI_20240919100421_0028_D	318993.5415216012625024	5187286.4173303544521332	625.8197460731468027	-36.2502837528701676	18.2826367040623801	157.0444067304768510	-0.8743255943639184	0.4853342544209195	0.0023273430927540	-0.3703297218248098	-0.6702300366310581	0.6431544100219555	0.3137047213118414	0.5614644774900909	0.7657329745697512
-DJI_20240919100423_0029_D	318989.0366967926966026	5187281.3484082454815507	625.5420722132136007	-33.6475345783762521	22.9512734225748360	149.8771061860194038	-0.7964786874492511	0.6046605389344616	0.0027079687229803	-0.4621278370054219	-0.6116058721610336	0.6421651807773696	0.3899481538663930	0.5102194525825406	0.7665615092753906
-DJI_20240919100425_0030_D	318985.1833253240911290	5187276.6714472500607371	625.2496077214613024	-33.6035929819523034	23.0352223863708190	149.7655421084251941	-0.7950828598183156	0.6064939223711913	0.0028927754729373	-0.4633896385740782	-0.6105437801498402	0.6422665610029288	0.3912969318628935	0.5093146519070025	0.7664758942507814
-DJI_20240919100427_0031_D	318981.4699723569792695	5187272.0314854495227337	624.9398602046113638	-33.6131727839952887	23.0784981369635318	149.7564633487061769	-0.7947538751519905	0.6069234750299226	0.0031895749713023	-0.4633666240880401	-0.6101465002485117	0.6426605790895737	0.3919918999318067	0.5092790430521328	0.7661443771873268
-DJI_20240919100429_0032_D	318977.7155523785622790	5187267.3731797924265265	624.6314255535743314	-33.6182804431008364	23.1023434209596026	149.7667673707436506	-0.7946961758762217	0.6069971596771674	0.0035264984844842	-0.4631415048716336	-0.6100916196007106	0.6428749195280685	0.3923747373531435	0.5092569723006584	0.7659630550165057
-DJI_20240919100431_0033_D	318973.9524451605975628	5187262.7405810551717877	624.3259330762303989	-33.6351861036660935	23.1024764855176805	149.8078075071636874	-0.7950269258887366	0.6065621769250138	0.0038095453658275	-0.4625716984827410	-0.6103359391812455	0.6430532366037348	0.3923768735217428	0.5094824500095513	0.7658120019022734
-DJI_20240919100433_0034_D	318970.1890831507625990	5187258.0954996328800917	624.0242917550401671	-33.6444388554810203	23.1178452052594174	149.8256503392080106	-0.7950799231836783	0.6064908839298093	0.0040894327571091	-0.4622711735103990	-0.6103522447695799	0.6432538374903438	0.3926235829538961	0.5095477848198081	0.7656420685239754
-DJI_20240919100435_0035_D	318966.4365518414997496	5187253.4596359124407172	623.7334464068206898	-33.6402553300182134	23.1257859663442495	149.8268059377141412	-0.7950421969170518	0.6065393151850067	0.0042384261478651	-0.4622277833599165	-0.6103759538418494	0.6432625212631549	0.3927510425339258	0.5094617297761977	0.7656339624663727
-DJI_20240919100437_0036_D	318962.6229239207459614	5187248.7852982338517904	623.4306142733930756	-33.6331171841417174	23.1200143541906336	149.8333032763290191	-0.7951288094525207	0.6064251906783782	0.0043202418114811	-0.4621575015174106	-0.6105506518510461	0.6431472190062302	0.3926584013742756	0.5093882503895781	0.7657303638979214
-DJI_20240919100439_0037_D	318957.2680372898466885	5187242.2088045645505190	622.9523407011716927	-33.5712415727078692	23.0274243849958857	149.7269404721124033	-0.7948164680198935	0.6068438216522879	0.0027126162331345	-0.4639520441975248	-0.6105324994174787	0.6418711458228860	0.3911716795082689	0.5089112332003418	0.7668077163625754
-DJI_20240919100441_0038_D	318949.2455754695693031	5187232.3761654561385512	622.3080239323244314	-33.5844675891068931	23.0319236039313537	149.6947275218704476	-0.7945289762150449	0.6072220205679111	0.0022635573985342	-0.4643833326287392	-0.6100228652156152	0.6420437868952223	0.3912439473414240	0.5090712343587638	0.7666646281244139
-DJI_20240919100443_0039_D	318939.5905835488811135	5187220.4785601831972599	621.5176731676853024	-33.6612970595934158	23.0674991490313559	149.6960665920723841	-0.7943299419894595	0.6074836853705612	0.0018749046971409	-0.4642420959139988	-0.6090157799210769	0.6431011243875261	0.3918152876552928	0.5099640691418600	0.7657789684653635
-DJI_20240919100445_0040_D	318929.0478021471062675	5187207.4733759528025985	620.6880617657593575	-33.7540488931657237	23.1641961556432463	149.7557879433409198	-0.7942410212820128	0.6075969304896183	0.0026777177781036	-0.4630801592852954	-0.6081723890439171	0.6447349155125073	0.3933674696631772	0.5108349197776206	0.7644015427421518
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diff --git a/t3z5/pose/camera_calibration.xml b/t3z5/pose/camera_calibration.xml
index a46a06518214a8bf220e54468963e92c196ade06..2ad35bcf2ac3322249528327ddcb85199a85bf8f 100644
--- a/t3z5/pose/camera_calibration.xml
+++ b/t3z5/pose/camera_calibration.xml
@@ -3,13 +3,13 @@
   <projection>frame</projection>
   <width>5280</width>
   <height>3956</height>
-  <f>3720.3050864624615</f>
-  <cx>-11.310752028587267</cx>
-  <cy>-49.740984777386011</cy>
-  <k1>-0.1107349875070081</k1>
-  <k2>0.0052891621597512314</k2>
-  <k3>-0.019860121515451076</k3>
-  <p1>-0.00015738887206224466</p1>
-  <p2>-0.00024319548117721399</p2>
-  <date>2025-04-23T11:17:29Z</date>
+  <f>3720.7922875241293</f>
+  <cx>-11.226944491812334</cx>
+  <cy>-50.960370602662927</cy>
+  <k1>-0.11073430091874541</k1>
+  <k2>0.0051419515205256413</k2>
+  <k3>-0.019735246014495608</k3>
+  <p1>-0.00015931166358587682</p1>
+  <p2>-0.00022602433726287712</p2>
+  <date>2025-05-05T14:55:42Z</date>
 </calibration>
diff --git a/t3z5/pose/cameras_pose.txt b/t3z5/pose/cameras_pose.txt
index 58cfa7dd6ca58c5c4bba83bf29745709fe4e5129..0d89fc2498f69173ddf50d956f33a28af1b9482a 100644
--- a/t3z5/pose/cameras_pose.txt
+++ b/t3z5/pose/cameras_pose.txt
@@ -1,185 +1,185 @@
 # Cameras (183)
 # PhotoID, X, Y, Z, Omega, Phi, Kappa, r11, r12, r13, r21, r22, r23, r31, r32, r33
-DJI_20240919105636_0003_D	319381.3096367419930175	5188260.4830940160900354	567.3054537374611073	39.8604562321710745	0.5312194655955779	0.9258775404274290	0.9998264616156135	0.0183451493088741	0.0032407020901757	-0.0161582137435186	0.7674114361616470	0.6409513240308796	0.0092713958938733	-0.6408924583306889	0.7675746856645451
-DJI_20240919105638_0004_D	319381.4278614282375202	5188264.2786229085177183	567.0933205763478782	39.8185184164188470	0.1096735452838202	0.2473183906997263	0.9999888518458896	0.0045411461831059	0.0012938992555850	-0.0043164989060795	0.7680641488352824	0.6403583614751412	0.0019141632986134	-0.6403568077761629	0.7680751881903159
-DJI_20240919105640_0005_D	319381.6261972706997767	5188271.0083242189139128	566.7410239917020363	39.9533517451056355	-0.1008170119846114	-0.0834602414368372	0.9999973910024926	-0.0022465670854126	0.0004134302101126	0.0014566532374354	0.7665650655457240	0.6421649931647051	-0.0017595878931616	-0.6421627155333844	0.7665663380485970
-DJI_20240919105642_0006_D	319381.7613294331240468	5188277.0795802874490619	566.3819964951059092	40.0767737603332606	-0.1092723465350349	-0.1358610327263704	0.9999953700253909	-0.0030422686102972	-0.0000673014432941	0.0023712158117454	0.7651773865532525	0.6438151477272871	-0.0019071610722735	-0.6438123264657468	0.7651810576768137
-DJI_20240919105644_0007_D	319381.8696026647230610	5188283.0511744795367122	566.0179232784854548	40.1663193067552839	-0.1222865487071905	-0.1769993415541131	0.9999929507470100	-0.0037373390019409	-0.0003615984971929	0.0030892093343568	0.7641674227255641	0.6450105478444966	-0.0021343012854611	-0.6450071180554161	0.7641735813386049
-DJI_20240919105646_0008_D	319381.9389122831053101	5188289.1094005052000284	565.6326428362427805	40.2380171051167110	-0.1433252331824339	-0.1969168892811326	0.9999909653194211	-0.0042394400219095	-0.0003105283128411	0.0034368305517882	0.7633575221590335	0.6459670901516416	-0.0025014946113746	-0.6459623212785105	0.7633651957046429
-DJI_20240919105648_0009_D	319382.1492182160727680	5188294.9690018128603697	565.2636693824744043	40.2646693777092750	-0.2120917081862430	-0.2322882040371604	0.9999849305446447	-0.0054860676224525	0.0002043175582698	0.0040541550915470	0.7630510477413405	0.6463255080586997	-0.0037016901702357	-0.6463149399502419	0.7630617903466264
-DJI_20240919105650_0010_D	319382.3814706484554335	5188300.9191929856315255	564.8946748072535229	40.2824936582194582	-0.2362343826204437	-0.2629495359601131	0.9999809692774172	-0.0061667966500191	0.0001780507645488	0.0045892800505773	0.7628456484937610	0.6465643472097351	-0.0041230561013418	-0.6465512254981898	0.7628594321466928
-DJI_20240919105652_0011_D	319382.8321403970476240	5188310.7101472094655037	564.3388443497472053	40.1772196266428949	-0.3164834424384554	-0.4888567376093530	0.9999483464309341	-0.0100824145923366	-0.0012842842477061	0.0085319259613478	0.7639943820455379	0.6451664827331367	-0.0055236500097979	-0.6451441149997762	0.7640409414237729
-DJI_20240919105654_0012_D	319383.2723537374986336	5188324.6510734092444181	563.7168168974063747	40.1587884325182429	-0.2686771862876988	-0.5247790722044982	0.9999470612362340	-0.0100238848661438	-0.0023230275955402	0.0091588938960928	0.7642003395065898	0.6449139134493946	-0.0046892843397959	-0.6449010488673463	0.7642516913832625
-DJI_20240919105656_0013_D	319383.6049182584974915	5188340.9074003361165524	563.3870943719213074	40.2220523464349640	-0.2175795969230245	-0.5180540926040698	0.9999519135352832	-0.0093558345869466	-0.0029392135524920	0.0090415612272383	0.7634941612910194	0.6457514350313880	-0.0037974712243220	-0.6457469582070868	0.7635420389072207
-DJI_20240919105658_0014_D	319383.8728274072636850	5188357.0361070306971669	563.4991873225617383	40.2854566816218238	-0.1981158364897956	-0.5103707685227946	0.9999543492890705	-0.0090306451603455	-0.0031219842824030	0.0089074792689785	0.7627822999779204	0.6465940145512227	-0.0034577667567890	-0.6465923060850493	0.7628279187081931
-DJI_20240919105700_0015_D	319384.1835572149720974	5188373.1724762562662363	564.1246021481156276	40.3209832917556810	-0.1205824205083296	-0.4040233937689632	0.9999729234745157	-0.0067380307786419	-0.0029582527033018	0.0070514644217065	0.7624028480985192	0.6470642735159902	-0.0021045587043178	-0.6470676132773862	0.7624297178626812
-DJI_20240919105702_0016_D	319384.5945524017442949	5188388.9638259503990412	565.2769469918274581	40.3233250131839540	-0.0447911894023564	-0.3261838556731378	0.9999834894558466	-0.0048461992071535	-0.0030879068887492	0.0056929497571672	0.7623897248322418	0.6470931136963838	-0.0007817536513288	-0.6471000091357314	0.7624047265316271
-DJI_20240919105704_0017_D	319385.0393830491811968	5188404.8850904759019613	566.8804082593096609	40.3111237592324869	-0.0289313959185757	-0.2739760886641514	0.9999884398039177	-0.0039729677121118	-0.0027084656330071	0.0047817659863801	0.7625324635388298	0.6469322814355883	-0.0005049480945192	-0.6469377540204021	0.7625426463159024
-DJI_20240919105706_0018_D	319385.5598266632296145	5188420.6997440243139863	568.8323621981946872	40.3127468151942949	-0.0288869235607132	-0.2698820285801008	0.9999887793229475	-0.0039179035019886	-0.0026629420479284	0.0047103119738689	0.7625144214493593	0.6469540710458956	-0.0005041719055472	-0.6469593550710109	0.7625243200690663
-DJI_20240919105708_0019_D	319386.0128730564611033	5188436.5444327117875218	571.0900656768453700	40.2955256916971223	-0.0277690394943575	-0.2532119274485609	0.9999901171008981	-0.0036841767517355	-0.0024884819055506	0.0044193669344884	0.7627100025741829	0.6467255377431673	-0.0004846611503187	-0.6467301437345818	0.7627187465171003
-DJI_20240919105710_0020_D	319386.4693064464954659	5188452.2788491034880280	573.5006674133699107	40.2829200935864264	-0.0169528289225076	-0.2378340953833629	0.9999913408886220	-0.0033579231902520	-0.0024581496343078	0.0041509759355109	0.7628537378133462	0.6465577654803858	-0.0002958826779078	-0.6465623705846599	0.7628610708362213
-DJI_20240919105712_0021_D	319386.8265628544613719	5188468.0346316369250417	576.0510510112048905	40.2653297536580084	-0.0380445306571874	-0.2169302064041846	0.9999926121085213	-0.0033182085922375	-0.0019404175106192	0.0037861364684640	0.7630524749173038	0.6463254487432933	-0.0006640022735508	-0.6463280204465192	0.7630594007589875
-DJI_20240919105714_0022_D	319387.2443566564470530	5188483.7188810892403126	578.6317573592331200	40.2620691699546995	-0.0300862317904738	-0.2030143753880596	0.9999935847618405	-0.0030432146211902	-0.0018892538033097	0.0035432613767596	0.7630903562273849	0.6462821005811464	-0.0005251037801305	-0.6462846486475853	0.7630962437258406
-DJI_20240919105716_0023_D	319387.7102920094039291	5188499.4208331806585193	581.1250467068788339	40.2408705011017602	-0.0300581837824896	-0.2045314424631524	0.9999934908504172	-0.0030638084703009	-0.0019056060594867	0.0035697390220041	0.7633293399540123	0.6459996716165476	-0.0005246142501099	-0.6460022692243655	0.7633353083258099
-DJI_20240919105718_0024_D	319388.1656366566312499	5188515.2268307954072952	583.5033412074645867	40.2035379234264809	-0.0235451537194519	-0.2101447491074268	0.9999931894952319	-0.0030664980716280	-0.0020536681158711	0.0036677092449035	0.7637500612025739	0.6455016591163494	-0.0004109404437266	-0.6455047951817566	0.7637561067024673
-DJI_20240919105720_0025_D	319388.6139736919431016	5188531.1601373357698321	585.6972437530672551	40.1788167130939158	-0.0074024536464936	-0.2138134291977755	0.9999930286894034	-0.0029345325209545	-0.0023089156498083	0.0037317396319881	0.7640289828142491	0.6451711304290850	-0.0001291971884981	-0.6451752490127840	0.7640346074422145
-DJI_20240919105722_0026_D	319389.0195492806378752	5188547.0225934870541096	587.6591060963132804	40.1708188004759705	0.0003312743753720	-0.2226498346661883	0.9999924496008981	-0.0029656304669508	-0.0025111306476479	0.0038859629136829	0.7641189113894524	0.6450637089072920	0.0000057818285777	-0.6450685965794118	0.7641246663167203
-DJI_20240919105724_0027_D	319389.4198359273141250	5188562.8134744670242071	589.4237007588927781	40.1605088100863625	0.0209850012679903	-0.2158657755383558	0.9999928356503458	-0.0026431134281491	-0.0027097231198679	0.0037675593596522	0.7642361956250077	0.6449254552218316	0.0003662573574731	-0.6449310437930720	0.7642406784564186
-DJI_20240919105726_0028_D	319389.8694323669187725	5188578.7539601409807801	591.0616475658906666	40.1570558342627848	0.0401643797856961	-0.2104340788834700	0.9999930096975971	-0.0023549532251927	-0.0029042643214808	0.0036727583753941	0.7642761011765752	0.6448787110893407	0.0007010006118697	-0.6448848698532482	0.7642794078296898
-DJI_20240919105728_0029_D	319390.3761910711182281	5188593.8510309485718608	592.6057296863440342	40.1856997809618903	-0.1608357022895534	-0.3760176525987561	0.9999745254061846	-0.0068249163022268	-0.0020902287299734	0.0065626731177627	0.7639287631217828	0.6452672130185854	-0.0028071088730928	-0.6452644925863280	0.7639540920415857
-DJI_20240919105730_0030_D	319390.4963311220635660	5188602.0443875631317496	593.2828591630723167	40.1337395188394623	-0.5552152336792575	-0.7757482088404857	0.9998613976453210	-0.0165965595580947	-0.0013189805079114	0.0135383110888427	0.7643873265602708	0.6446151791006042	-0.0096901822277675	-0.6445436906873554	0.7645060700632245
-DJI_20240919105732_0031_D	319390.6623207430820912	5188608.7687671417370439	593.9507644848599739	40.2295285071541642	-0.3190472053176417	-0.4555330274234988	0.9999528913904649	-0.0096661313387544	-0.0008836881753120	0.0079503441585138	0.7634105555812523	0.6458646264155400	-0.0055683954251126	-0.6458412262561642	0.7634514414422990
-DJI_20240919105734_0032_D	319390.8735654583433643	5188614.2667458374053240	594.5320012941127743	40.2202441289172654	-0.3113125468788901	-0.4271941366263166	0.9999574439481392	-0.0092014669039432	-0.0006658074192429	0.0074557650923782	0.7635205409143780	0.6457405014157801	-0.0054334022114278	-0.6457179853532280	0.7635566524703833
-DJI_20240919105736_0033_D	319391.0213891202001832	5188620.1048908894881606	595.1451316555400126	40.2146810035326610	-0.3096305493676590	-0.4290526355504332	0.9999573606497355	-0.0092073465490641	-0.0007082739163919	0.0074882018246305	0.7635830784560891	0.6456661746823630	-0.0054040462478403	-0.6456439475942203	0.7636194662389791
-DJI_20240919105738_0034_D	319391.2176240748958662	5188626.1563678262755275	595.7490614573531502	40.1495253063116948	-0.2761823581676636	-0.4470926853825886	0.9999579376529396	-0.0090724004013298	-0.0013470248097218	0.0078030695773084	0.7643168241905791	0.6447936913187033	-0.0048202728192222	-0.6447770807109892	0.7643554678026208
-DJI_20240919105740_0035_D	319391.5366048166761175	5188636.8312191423028708	596.8734120725672483	40.0650141922158411	-0.1253148733446844	-0.3991295381313963	0.9999733448830769	-0.0067389760207253	-0.0028099333699167	0.0069660515801333	0.7652861957148410	0.6436524782626796	-0.0021871553978168	-0.6436548957714048	0.7653127409763726
-DJI_20240919105742_0036_D	319391.5673452535411343	5188650.2031767740845680	597.9128437478398155	40.1456212976931397	0.2364325910830405	-0.0787751131584046	0.9999905407525116	0.0016095228472686	-0.0040407724142731	0.0013748729541786	0.7644112156939818	0.6447275417147998	0.0041265154621905	-0.6447269986261266	0.7644017720496775
-DJI_20240919105744_0037_D	319391.0449376270407811	5188666.0618536015972495	598.6721679650854639	40.2215531733405882	1.2827436516168433	1.0687382456734669	0.9995754783649209	0.0286950127902532	-0.0050457202168663	-0.0186472453496238	0.7631507125962615	0.6459514456247387	0.0223862299731474	-0.6455831364780110	0.7633618215517487
-DJI_20240919105746_0038_D	319391.2045247191563249	5188682.2987126344814897	600.1437986968135192	40.3321405368110675	1.1876719546808974	0.9185160416059055	0.9996566982134060	0.0256334412968431	-0.0054233204176774	-0.0160269986307186	0.7619923851076803	0.6473876275870585	0.0207273016083246	-0.6470784587089807	0.7621416188890668
-DJI_20240919105748_0039_D	319392.8184151802561246	5188694.6980501711368561	602.4134482593949542	40.3837690147109640	-3.2092481534572062	-3.9617254781389972	0.9960459146038192	-0.0888121435566528	-0.0022224216329016	0.0689817179341693	0.7573956948797964	0.6493021515199230	-0.0559826633154635	-0.6468880618271003	0.7605273018594961
-DJI_20240919105749_0040_D	319393.3399253949173726	5188697.3564540594816208	603.0181138284093549	40.2818486917909553	-4.4577287217796311	-5.2951846082129066	0.9927203148551649	-0.1204407839202261	-0.0006277280809159	0.0920077292627521	0.7549799965787121	0.6492609510219449	-0.0777235757654923	-0.6445922915569887	0.7605654629520959
-DJI_20240919105750_0041_D	319393.7766027858015150	5188698.7294684974476695	603.3953826139667171	40.1613624425192768	-5.4104352890780447	-6.4625940289121235	0.9892186679065503	-0.1464426403960105	-0.0009900197145783	0.1120530769724540	0.7525302548525751	0.6489547930884891	-0.0942896336094042	-0.6420691307058480	0.7608263247209845
-DJI_20240919105750_0042_D	319394.4296510087442584	5188699.3848094129934907	603.3556683346020009	38.1758154379269854	-13.6898459869852331	-17.0529548901668271	0.9288742272676019	-0.3703798050925912	-0.0033867237250706	0.2849243612751057	0.7086587651330608	0.6454617439880216	-0.2366659634801521	-0.6005177387718533	0.7637850922545895
-DJI_20240919105752_0043_D	319396.2616506631602533	5188701.8604568298906088	603.1821313064756396	38.1893653488515525	-12.7621869120700886	-16.0056908906519872	0.9374873617875976	-0.3480008951518959	-0.0035809861783950	0.2689209500420209	0.7178441096699386	0.6421692587166330	-0.2209048870374472	-0.6029885663805348	0.7665545118889593
-DJI_20240919105752_0044_D	319396.2585810751188546	5188702.8819451425224543	603.1569837115162045	39.8571173394794087	0.9973924783804874	0.9274531020047404	0.9997174998173540	0.0235796045955081	-0.0029871066366364	-0.0161839509708743	0.7673638879131243	0.6410076000000522	0.0174069035130172	-0.6407781720486226	0.7675287186393187
-DJI_20240919105754_0045_D	319393.6785915378713980	5188706.0623154751956463	603.1579446064391732	29.7773515806442006	27.7565533107531301	38.9670264048930619	0.6880435615737814	0.7256667138475329	-0.0019692106511429	-0.5565113722766655	0.5293959653606035	0.6403397569936276	0.4657157393771537	-0.4394857588974161	0.7680892642282885
-DJI_20240919105755_0046_D	319387.9140606779255904	5188705.7565331188961864	603.1960082657227531	-14.1971919269614943	37.7571517441772357	112.1870649425349882	-0.2985606298757051	0.9543861651815541	-0.0029322343477875	-0.7320728807921340	-0.2270410419299919	0.6422784929359302	0.6123159703102055	0.1939056806527120	0.7664657458188722
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+DJI_20240919110208_0180_D	319379.2465893207117915	5188182.2631695847958326	567.4063941022189965	40.8547275581660116	0.3759611735941897	0.1295718418776187	0.9999759146940687	0.0060027870037801	-0.0034837594561508	-0.0022614046458742	0.7563589377423794	0.6541529204599238	0.0065617132510256	-0.6541292867968894	0.7563542953363880
+DJI_20240919110210_0181_D	319379.6796500270720571	5188198.1916443454101682	566.9782858870737527	40.8379488737506691	0.3734118666353006	0.1355090214064588	0.9999759659559344	0.0060510680339937	-0.0033840931050767	-0.0023650261569643	0.7565499124262414	0.6539316758340458	0.0065172204023432	-0.6539079557426218	0.7565460404064862
+DJI_20240919110212_0182_D	319380.1565346529241651	5188214.4572500018402934	566.7808710228782729	40.8417691993278638	0.3514539009803670	0.0959299758574311	0.9999797853074391	0.0052780871215824	-0.0035455285677897	-0.0016742616491977	0.7565107276322244	0.6539791402065456	0.0061339892743670	-0.6539599840767784	0.7565042718992949
+DJI_20240919110214_0183_D	319380.6288145026192069	5188230.2745636561885476	566.7859209408119341	40.8336847221132544	0.3265812530746102	0.0704969988937129	0.9999829985750466	0.0046578942745702	-0.0035080737998765	-0.0012303844457275	0.7566056144127641	0.6538703467761784	0.0056998872773207	-0.6538549137691106	0.7565984820398565
+DJI_20240919110216_0184_D	319381.1420850474387407	5188246.2005067840218544	566.9626819920928256	40.8216135322810345	0.3438648267948816	0.1080584700024406	0.9999802121920197	0.0053504434723507	-0.0033087730433631	-0.0018859410029162	0.7567397687293682	0.6537135195557428	0.0060015373811068	-0.6536943438473917	0.7567348851288614
+DJI_20240919110218_0185_D	319381.3857598266331479	5188260.2290755249559879	567.3822818357738242	40.9078201970942672	-0.0830254933397669	-0.1580072855467226	0.9999951475219383	-0.0030331134655171	-0.0007107427680592	0.0027577409840543	0.7557586070252436	0.6548445027423904	-0.0014490677147463	-0.6548432851682676	0.7557633042644963
diff --git a/t4z1/pose/camera_calibration.xml b/t4z1/pose/camera_calibration.xml
index 02cdc5d787d0ca473c3d2299faa6daa0030a11cc..c655e861122884aed074c82e146d4daeb633e62f 100644
--- a/t4z1/pose/camera_calibration.xml
+++ b/t4z1/pose/camera_calibration.xml
@@ -3,16 +3,16 @@
   <projection>frame</projection>
   <width>5280</width>
   <height>3956</height>
-  <f>3717.4070364017207</f>
-  <cx>-10.482318259502856</cx>
-  <cy>-49.575231599429827</cy>
-  <b1>0.12198524778127723</b1>
-  <b2>-0.36523123038426558</b2>
-  <k1>-0.091590873031547046</k1>
-  <k2>-0.081850340736127819</k2>
-  <k3>0.12784689332711241</k3>
-  <k4>-0.083480862736589487</k4>
-  <p1>-0.000128118942960236</p1>
-  <p2>-0.00015834177004265911</p2>
-  <date>2025-04-23T11:18:45Z</date>
+  <f>3717.1361861575278</f>
+  <cx>-10.471006877187257</cx>
+  <cy>-48.857198267764495</cy>
+  <b1>-0.11962681260002214</b1>
+  <b2>-0.30591504943127784</b2>
+  <k1>-0.091562368692703344</k1>
+  <k2>-0.081838575820569914</k2>
+  <k3>0.12778473976703481</k3>
+  <k4>-0.083421568973828394</k4>
+  <p1>-0.00013524469889554343</p1>
+  <p2>-0.00018643528284592326</p2>
+  <date>2025-05-05T14:26:02Z</date>
 </calibration>
diff --git a/t4z1/pose/cameras_pose.txt b/t4z1/pose/cameras_pose.txt
index 10ba38b5f908120fa70a59fe50ee4946b5a94bd8..93af3a3eddb8bcb44f570b247b2e7716fca85173 100644
--- a/t4z1/pose/cameras_pose.txt
+++ b/t4z1/pose/cameras_pose.txt
@@ -1,175 +1,175 @@
 # Cameras (173)
 # PhotoID, X, Y, Z, Omega, Phi, Kappa, r11, r12, r13, r21, r22, r23, r31, r32, r33
-DJI_20241011151712_0004_D	319706.5769156881142408	5191421.7804412404075265	957.7871574298335418	40.0384521952230727	-3.9574372656319365	-3.8468283667247718	0.9953679351990924	-0.0956621903024061	0.0095613243874395	0.0669294221507528	0.7609093191038180	0.6453971339814969	-0.0690154042809427	-0.6417676787183274	0.7637873529487301
-DJI_20241011151714_0005_D	319706.6153179991524667	5191422.2136869709938765	958.1480703382176216	40.0697535655442181	-3.8694081225277674	-3.7759228414973256	0.9955546305192426	-0.0937415492341085	0.0091378114931088	0.0657044740419194	0.7607394056880110	0.6457232214535318	-0.0674825884400500	-0.6422523480538168	0.7635168771394580
-DJI_20241011151716_0006_D	319707.4149434003047645	5191428.8477316396310925	960.8719098403647649	40.0408021040804485	-3.8200077615753636	-3.8089893694831272	0.9955742302349736	-0.0936239201648647	0.0081555910271967	0.0662828578574318	0.7610481320271187	0.6453001809175983	-0.0666223299374270	-0.6419036550067281	0.7638855692070066
-DJI_20241011151718_0007_D	319708.1202420089975931	5191435.7687991736456752	963.2084188222694365	40.0852827950368109	-3.8271067473485068	-3.6968853298646502	0.9956937675136286	-0.0922214105037148	0.0094410157939571	0.0643342742930585	0.7607235406988169	0.6458798617218539	-0.0667459548265061	-0.6424911719793206	0.7633806857937510
-DJI_20241011151720_0008_D	319708.7698153596138582	5191441.1444000843912363	965.3481865113690219	40.1038441473328717	-3.8438472704399032	-3.6904739548761758	0.9956814565501994	-0.0923267646158674	0.0097059578424691	0.0642215981610072	0.7605124913129703	0.6461395645575231	-0.0670374776652562	-0.6427258506490194	0.7631575574517852
-DJI_20241011151722_0009_D	319709.4045790599193424	5191446.5847277911379933	967.4693645071023411	40.1172215881188521	-3.8439302217358406	-3.6679657567757005	0.9957065118146978	-0.0920312479046578	0.0099394033482351	0.0638304413468836	0.7603977621867510	0.6463133280529215	-0.0670389221815923	-0.6429039529124805	0.7630073985501303
-DJI_20241011151724_0010_D	319710.0415834416635334	5191452.1410658163949847	969.6127741098055139	40.1187681388465407	-3.8519125823181160	-3.6512967004674199	0.9957157093959648	-0.0918996839152543	0.0102310389681291	0.0635401624278641	0.7604013546699087	0.6463377039712356	-0.0671779265885137	-0.6429185235412370	0.7629828951338451
-DJI_20241011151726_0011_D	319710.6577968862839043	5191457.7906993273645639	971.7935566828111860	40.1223338075976557	-3.8477307495046862	-3.6368652380656243	0.9957365726589453	-0.0916619667946919	0.0103325559638695	0.0632896738404453	0.7603872300727403	0.6463788962578183	-0.0671051045345119	-0.6429691627019407	0.7629466303482690
-DJI_20241011151728_0012_D	319711.2138679365161806	5191463.2533365171402693	973.8985392369671672	40.1253089561446359	-3.8500553468737166	-3.6327807931910994	0.9957383639315452	-0.0916343352455544	0.0104047680913661	0.0632185180366811	0.7603585445242654	0.6464196026933178	-0.0671455849045611	-0.6430070235798719	0.7629111600014635
-DJI_20241011151730_0013_D	319711.7943574429955333	5191468.8964742105454206	976.0420045525930846	40.1350736908587749	-3.8301690654541525	-3.5852074532299167	0.9958137111164426	-0.0907820463166753	0.0106617455913991	0.0623931769739556	0.7603381494988257	0.6465237736416181	-0.0667992830769566	-0.6431520181755308	0.7628193346377284
-DJI_20241011151732_0014_D	319712.4575767131755129	5191475.1284200930967927	978.6119157303759266	40.0600664323322988	-3.8007201981724053	-3.5778872345205879	0.9958558094791973	-0.0903413440695160	0.0104713073800018	0.0622680837623277	0.7612160652044168	0.6455019657749099	-0.0662864425889710	-0.6421748544021472	0.7636868231824355
-DJI_20241011151734_0015_D	319713.8305107408086769	5191486.4153211219236255	982.9445064818498849	40.0377805797050144	-3.7808869518707082	-3.6105347406424428	0.9958430072655642	-0.0905493874644706	0.0098748827884996	0.0628369599111759	0.7614294769859337	0.6451950620130698	-0.0659410444973291	-0.6418924832140787	0.7639540684124047
-DJI_20241011151736_0016_D	319715.3768516626441851	5191499.8866447489708662	988.0871841035208263	40.1030251705896035	-3.7634611185696452	-3.6013089172686930	0.9958730819519863	-0.0902429803023496	0.0096441251341346	0.0626778643004175	0.7607211302978345	0.6460455457977586	-0.0656375652366203	-0.6427748956085132	0.7632379338091586
-DJI_20241011151738_0017_D	319717.0543373120599426	5191515.0865734573453665	993.8197532817712272	40.1754119957608253	-3.7583126884486955	-3.6007601258501305	0.9958795645831739	-0.0901900835819983	0.0094679284481816	0.0626686957723760	0.7599088142401675	0.6470017222622301	-0.0655479016888957	-0.6437424507235596	0.7624297539580995
-DJI_20241011151740_0018_D	319718.7596182519919239	5191530.0156404972076416	999.5208353442269527	40.2350534132088455	-3.7759658449844626	-3.6219723503093100	0.9958360923203393	-0.0906791568862728	0.0093684437636174	0.0630361103280968	0.7591889220059186	0.6478106432424490	-0.0658553416729530	-0.6445226692753997	0.7617437907612066
-DJI_20241011151742_0019_D	319720.3774810096947476	5191544.9734231224283576	1005.2508524937193215	40.2968593370128048	-3.7760060216006961	-3.5772825585979993	0.9958849104634252	-0.0900980243230777	0.0097770713577072	0.0622593521247363	0.7585601533340994	0.6486218211305845	-0.0658560413649630	-0.6453439701328474	0.7610480550063254
-DJI_20241011151744_0020_D	319722.0178897541482002	5191559.7198206670582294	1010.9235564899041719	40.3213859226398199	-3.7846845901832897	-3.5398651330521460	0.9959153894380209	-0.0897045925482051	0.0102773126972003	0.0616083524055949	0.7583350703127694	0.6489470949527362	-0.0660071813849342	-0.6456632304920946	0.7607641190251607
-DJI_20241011151746_0021_D	319723.6783602737123147	5191574.6141532845795155	1016.6513695416954306	40.3294295838103096	-3.8060467994989824	-3.5461077695683301	0.9958840387393109	-0.0900289535958140	0.0104770653678264	0.0617153350918689	0.7582192880028051	0.6490722060872873	-0.0663792045657171	-0.6457540544316870	0.7606546538254145
-DJI_20241011151748_0022_D	319725.3978508290019818	5191589.4043156225234270	1022.3462327459851622	40.3093769494157499	-3.8061414382087184	-3.5304283258188689	0.9959007809034158	-0.0898187872041223	0.0106873785909988	0.0614427944797562	0.7584709488456968	0.6488039786897326	-0.0663808526797089	-0.6454877266240535	0.7608805275305881
-DJI_20241011151750_0023_D	319727.1279411251889542	5191604.1395204234868288	1028.0335252500710794	40.2822721432206237	-3.8345716780265811	-3.5710314239297789	0.9958239920194026	-0.0906708988270426	0.0106473012748383	0.0621464725569382	0.7586940165120682	0.6484760637506332	-0.0668759513373135	-0.6451063303167018	0.7611605807699502
-DJI_20241011151752_0024_D	319728.7448776059318334	5191618.9660533592104912	1033.7426125629008311	40.2950681016320473	-3.8573365009441782	-3.5967268401526313	0.9957694235831394	-0.0912693250653601	0.0106379208032619	0.0625913912486509	0.7584923483829572	0.6486691569560443	-0.0672723776780721	-0.6452590702552116	0.7609961625756854
-DJI_20241011151754_0025_D	319730.4126924636075273	5191633.9551239516586065	1039.5024876872646473	40.3020945397012937	-3.8590104857719760	-3.6124372876199700	0.9957502616644101	-0.0914973990639235	0.0104710247729798	0.0628643040422533	0.7583865506498569	0.6487664595759364	-0.0673015280104575	-0.6453511181968690	0.7609155265661947
-DJI_20241011151756_0026_D	319731.9944231923436746	5191648.6502375481650233	1045.1463344542585219	40.3005616029315448	-3.8508390771267194	-3.6291529545972798	0.9957414480746198	-0.0916265226875606	0.0101758992941838	0.0631554118758734	0.7583830077713540	0.6487423274879353	-0.0671592327014556	-0.6453369614890047	0.7609401051325204
-DJI_20241011151758_0027_D	319733.6726170664187521	5191663.7159397471696138	1050.9447888000495368	40.2999350226650890	-3.8201858675000544	-3.6034592717404990	0.9958053859323802	-0.0909417361611610	0.0100615094323696	0.0627111251435179	0.7584528145815491	0.6487038174980632	-0.0666254315655663	-0.6453517867623209	0.7609744563330508
-DJI_20241011151800_0028_D	319735.3812901356723160	5191678.4679994322359562	1056.5852078813873050	40.2967721184630818	-3.8243790787363157	-3.6337483229516665	0.9957672260797084	-0.0913892702353520	0.0097791999352257	0.0632372333684230	0.7584374492435638	0.6486707083727643	-0.0666984541157511	-0.6453066223670472	0.7610063595974761
-DJI_20241011151802_0029_D	319736.9826938532060012	5191693.4030490973964334	1062.3270616432985207	40.2914156659652960	-3.8428761417131927	-3.6213459106520669	0.9957593497992721	-0.0914320529365194	0.0101733467032667	0.0630203218657319	0.7585046962550916	0.6486131857979074	-0.0670205663902577	-0.6452215165776676	0.7610502205675682
-DJI_20241011151804_0030_D	319738.6065640083979815	5191708.1145434007048607	1067.9988101337805801	40.2713130626252038	-3.8216761815162350	-3.6021695735267509	0.9958050673753068	-0.0909363620425493	0.0101412942037531	0.0626886011642044	0.7587777709860937	0.6483258698690426	-0.0666513846347999	-0.6449704429784682	0.7612954226911015
-DJI_20241011151806_0031_D	319740.2643979325075634	5191723.0728323822841048	1073.7597165222568947	40.2648093057152607	-3.8045135405410555	-3.5864261459793525	0.9958421363066072	-0.0905338986179154	0.0101021164779596	0.0624162229118391	0.7588884006752258	0.6482226549867088	-0.0663525031457962	-0.6448968975903349	0.7613838301439352
-DJI_20241011151808_0032_D	319741.9256168313440867	5191737.7134193386882544	1079.3934704377809339	40.2691167793033387	-3.8051477698301941	-3.5890162811680892	0.9958385805749174	-0.0905760873861872	0.0100744147395262	0.0624611952913770	0.7588351249817709	0.6482806893442630	-0.0663635481368101	-0.6449536615042278	0.7613347844351941
-DJI_20241011151810_0033_D	319743.6559418498072773	5191752.5374289778992534	1085.0931497958727050	40.2752648249786347	-3.8118569865632761	-3.6005184365355820	0.9958182588712514	-0.0908048715286133	0.0100235026463550	0.0626606206596850	0.7587426156604515	0.6483697169048533	-0.0664803874625633	-0.6450303236960325	0.7612596400673159
-DJI_20241011151812_0034_D	319745.3173703179927543	5191767.3128281384706497	1090.7621866680474341	40.2701940774438540	-3.8295812907449833	-3.6233737659215421	0.9957726121993847	-0.0913057795030535	0.0100079679732641	0.0630565456024572	0.7587511031473612	0.6483213983275177	-0.0667890473827811	-0.6449496244684559	0.7613009950392150
-DJI_20241011151814_0035_D	319747.0100494119105861	5191782.4695000629872084	1096.5692880502570006	40.2731423033606575	-3.8346966408432808	-3.6273674247365184	0.9957622596530223	-0.0914166475250987	0.0100259067409693	0.0631255757771739	0.7587077326411378	0.6483654356251145	-0.0668781274671105	-0.6449849401232683	0.7612632547816012
-DJI_20241011151816_0036_D	319748.6500769703998230	5191797.2183117140084505	1102.2600030984328896	40.2562450782953221	-3.8264589964885825	-3.6303626240087947	0.9957685440845598	-0.0913608447101007	0.0099097258071478	0.0631782384317856	0.7589000004653440	0.6481352478320843	-0.0667346746479855	-0.6447666130838021	0.7614607657995717
-DJI_20241011151818_0037_D	319750.2915258657885715	5191811.8451252942904830	1107.8964433917019505	40.2441286691611779	-3.8134896976399797	-3.6390154575854630	0.9957740414151423	-0.0913277582398535	0.0096591417133123	0.0633295762580657	0.7590325008165153	0.6479652980485923	-0.0665088205783929	-0.6446153141828929	0.7616086091334326
-DJI_20241011151820_0038_D	319751.9651947550009936	5191826.8336156466975808	1113.6557384704556171	40.2292890007616535	-3.8174028591513416	-3.6248793950426799	0.9957851002094535	-0.0911818641619947	0.0098945363101250	0.0630836087958284	0.7592200251853982	0.6477695667895941	-0.0665769667538538	-0.6444150999204060	0.7617720699083352
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+oid sha256:4f520b6af8b39053d3e8e101db5f984f444b15fbdbd77c6d7153c2983539ffbc
+size 190237
diff --git a/t5a3/masks/DJI_20241106111135_0172_D.png b/t5a3/masks/DJI_20241106111135_0172_D.png
index c2f9691064311073b5601647338503248068e5b3..be1f0d3fb2330f679716b7207fd6e647b7346724 100644
--- a/t5a3/masks/DJI_20241106111135_0172_D.png
+++ b/t5a3/masks/DJI_20241106111135_0172_D.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5181d2e74027ab9e1b215be52d639b369656b0f4d513206698841d7e498944fe
-size 195727
+oid sha256:8909cf675c06d335147fd4486b89dd79e82459ffb133e02bda43e3c1f595d03b
+size 195375
diff --git a/t5a3/pose/camera_calibration.xml b/t5a3/pose/camera_calibration.xml
index 161da9d5159ee1473e09ab40c37453e560f99d27..8b4b1324abcc2f4f868586b802b2c554b991f467 100644
--- a/t5a3/pose/camera_calibration.xml
+++ b/t5a3/pose/camera_calibration.xml
@@ -3,16 +3,16 @@
   <projection>frame</projection>
   <width>5280</width>
   <height>3956</height>
-  <f>3714.9167187384342</f>
-  <cx>-10.866814469815919</cx>
-  <cy>-43.655333837229804</cy>
-  <b1>-1.8108007873552108</b1>
-  <b2>-0.19494925064345336</b2>
-  <k1>-0.090458568656701932</k1>
-  <k2>-0.086026747082505212</k2>
-  <k3>0.13294845532211552</k3>
-  <k4>-0.085501591711418246</k4>
-  <p1>-0.00017640247950311309</p1>
-  <p2>-0.00032463748524348343</p2>
-  <date>2025-04-23T11:32:00Z</date>
+  <f>3714.9048892245987</f>
+  <cx>-10.905118908814263</cx>
+  <cy>-45.87087898965877</cy>
+  <b1>-0.65162914744365052</b1>
+  <b2>-0.21780768631025299</b2>
+  <k1>-0.09030830192962358</k1>
+  <k2>-0.086709429378333314</k2>
+  <k3>0.13380329532467894</k3>
+  <k4>-0.085881942987406784</k4>
+  <p1>-0.00017618933480936748</p1>
+  <p2>-0.000224204245388535</p2>
+  <date>2025-05-05T12:58:04Z</date>
 </calibration>
diff --git a/t5a3/pose/cameras_pose.txt b/t5a3/pose/cameras_pose.txt
index b3b34c9214ff2b6c151d86a88d1659cd2ae0c825..a41ab3baf1f36f4c95e035167da33dedbba3ec72 100644
--- a/t5a3/pose/cameras_pose.txt
+++ b/t5a3/pose/cameras_pose.txt
@@ -1,171 +1,171 @@
 # Cameras (169)
 # PhotoID, X, Y, Z, Omega, Phi, Kappa, r11, r12, r13, r21, r22, r23, r31, r32, r33
-DJI_20241106110501_0003_D	361365.8317139964783564	5107079.9858280271291733	1856.2369148931989002	-90.1070644984974649	0.9275136852820853	-178.7711386073341373	-0.9996390119948306	0.0162237840216700	0.0214157542481334	0.0214432230805778	0.0015210409430321	0.9997689106080297	0.0161874606382482	0.9998672288191407	-0.0018683820854841
-DJI_20241106110614_0005_D	361364.5315883950097486	5107023.2221000427380204	1819.2804926492069626	37.4199661495077365	16.0801785556802734	21.8817826665159387	0.8916485989549569	0.4521768162946852	0.0223361318778614	-0.3581111643338620	0.6742568642065503	0.6458591758656027	0.2769822556791464	-0.5838782474762635	0.7631297544736015
-DJI_20241106110616_0006_D	361363.1032732852618210	5107026.0360941682010889	1820.8951556550207442	37.2767628155876167	16.1630861854129257	21.9691621605561842	0.8907287958086301	0.4540422471671106	0.0211624692497971	-0.3593202476259008	0.6748635559688732	0.6445526669490315	0.2783723620680919	-0.5817257245579642	0.7642669752279911
-DJI_20241106110618_0007_D	361359.9126738398335874	5107032.6363172754645348	1824.2325001397309734	37.2703596421546308	16.2593996917960801	21.9817526625145447	0.8902146343376343	0.4550993436412082	0.0200622089624587	-0.3593403094924364	0.6744699078750872	0.6449533978085945	0.2799865117911778	-0.5813561135726646	0.7639585214045955
-DJI_20241106110620_0008_D	361355.4845317208673805	5107041.4953429503366351	1828.7700344510033119	37.3125920298937075	16.3602223537449198	21.9585467616675736	0.8899017763847509	0.4557608795171982	0.0188904496763570	-0.3587949362584318	0.6737957859440910	0.6459608599282876	0.2816753842680834	-0.5816195144127257	0.7631367625476662
-DJI_20241106110622_0009_D	361350.0390198461245745	5107052.4266546200960875	1834.3953263272633194	37.3582860531893175	16.4452843753404743	21.9654046962617642	0.8894700209557216	0.4566277154366840	0.0182814473197042	-0.3587446353372853	0.6729026071516456	0.6469191355225442	0.2830995733619990	-0.5819735481820399	0.7623394393435653
-DJI_20241106110624_0010_D	361344.2256406277883798	5107064.2974246218800545	1840.4373688550388124	37.4124275712223522	16.5134128016463855	21.9736260582842320	0.8891057366470373	0.4573491146665180	0.0179659782667437	-0.3587460500327133	0.6719662672395832	0.6478908914917905	0.2842397942710599	-0.5824887320848821	0.7615212514085817
-DJI_20241106110626_0011_D	361338.4711290295817889	5107075.8876058487221599	1846.4441111473311139	37.4421392296911861	16.5862536843571249	21.9807941912562903	0.8887250389978134	0.4581107911671334	0.0173870087869847	-0.3587217363745870	0.6712956695007533	0.6485991365719944	0.2854584399010410	-0.5826633909263212	0.7609315685155301
-DJI_20241106110628_0012_D	361332.7968826644355431	5107087.3117028735578060	1852.4170464199914932	37.4679000073111723	16.6468997945834651	22.0070675476909159	0.8882798186200398	0.4589826155035498	0.0171441680425015	-0.3590158061016911	0.6705626456800525	0.6491944155549410	0.2864727121411416	-0.5828213250080073	0.7604292789697207
-DJI_20241106110630_0013_D	361327.1406313753686845	5107098.7688721874728799	1858.3970244912306953	37.5006709698721892	16.6763822540092335	21.9950882795447420	0.8882180637066667	0.4591108607242699	0.0169082485846516	-0.3587748225682341	0.6701747724624002	0.6497279438704345	0.2869656738990084	-0.5831663501266090	0.7599787563371081
-DJI_20241106110632_0014_D	361321.5196540097240359	5107110.2586839478462934	1864.3900750811283160	37.4859315442167045	16.6883852023390133	21.9797647784188968	0.8882582179772129	0.4590491457250663	0.0164687584545067	-0.3585147514746620	0.6704189499207740	0.6496195844971026	0.2871663475600979	-0.5829342273329076	0.7600810321490592
-DJI_20241106110634_0015_D	361315.7578927971771918	5107121.7722027571871877	1870.3857423173365078	37.4819419830077649	16.6866200473281552	21.9801327366298942	0.8882641190275800	0.4590379450143434	0.0164626815909632	-0.3585237670472494	0.6704679550399705	0.6495640305056692	0.2871368372577889	-0.5828866839288139	0.7601286406839732
-DJI_20241106110636_0016_D	361310.0501440314110368	5107133.2417837427929044	1876.3753869762108479	37.4584906592767695	16.7094718286125747	21.9776895983388698	0.8881731363010351	0.4592314993577944	0.0159658996231053	-0.3584430028194076	0.6706663885357488	0.6494037334495563	0.2875188579606364	-0.5825058156671131	0.7602761873365513
-DJI_20241106110638_0017_D	361304.2993362892884761	5107144.9233082141727209	1882.4752535072059345	37.4279197008632920	16.7287205058303918	21.9707786479031348	0.8881267370031186	0.4593403592373074	0.0154056287094918	-0.3582997109727507	0.6709950183404194	0.6491432834738285	0.2878406089088821	-0.5820413385130662	0.7605101341368713
-DJI_20241106110640_0018_D	361298.6621746009914204	5107156.4203389026224613	1888.4638752534274317	37.3966454229152561	16.7225235006238080	21.9398202973705203	0.8883490781023222	0.4589275333046215	0.0148806790735398	-0.3578314114321779	0.6716208505148688	0.6487542787112389	0.2877370265141578	-0.5816450398040200	0.7608524503766620
-DJI_20241106110642_0019_D	361292.9661873915465549	5107167.8139002537354827	1894.3921019800698105	37.3934659417079871	16.7294583985693386	21.9251494839384549	0.8884083588010073	0.4588216655326902	0.0146036724938818	-0.3575909276094558	0.6717480540516456	0.6487551775278841	0.2878529424965268	-0.5815816633247957	0.7608570512129432
-DJI_20241106110644_0020_D	361287.1257027087267488	5107179.3828151300549507	1900.4351592565080864	37.3799071994091392	16.7616038641017937	21.9335619677137643	0.8882058973377053	0.4592263118453598	0.0141943102484975	-0.3576609838657318	0.6717123526120998	0.6487535248216497	0.2883901949697984	-0.5813034576339855	0.7608662074162942
-DJI_20241106110646_0021_D	361281.4552387843141332	5107190.9380601933225989	1906.4431378931053587	37.3762100312730468	16.7767764375927300	21.9311835171800809	0.8881498701645560	0.4593421188520297	0.0139508413800070	-0.3575955767346310	0.6717157898553517	0.6487860210877140	0.2886437451712896	-0.5812079795628488	0.7608430014569122
-DJI_20241106110648_0022_D	361275.7529304368654266	5107202.3295278279110789	1912.3809708119542847	37.3537455643582348	16.7922679488009088	21.9540930401999326	0.8879343998332934	0.4597618710106602	0.0138392036427835	-0.3579214813756141	0.6717276727323527	0.6485939768880552	0.2889026042848606	-0.5808622518724680	0.7610087578911761
-DJI_20241106110650_0023_D	361270.0527543880161829	5107213.8113727755844593	1918.3775204174148712	37.3414742077265558	16.8060693375651233	21.9650480680222024	0.8878013834660262	0.4600229982929275	0.0136946908470187	-0.3580652088659996	0.6717263319638497	0.6485160299839474	0.2891332041041943	-0.5806570209581364	0.7610777977949853
-DJI_20241106110652_0024_D	361264.3056512445909902	5107225.3764989944174886	1924.4382457925842118	37.3379864345971342	16.8119357252678654	21.9775254339341153	0.8876959290742414	0.4602252379455172	0.0137356420676846	-0.3582474570188651	0.6716433646479626	0.6485013109191690	0.2892312172718139	-0.5805927325435242	0.7610896017376063
-DJI_20241106110654_0025_D	361258.7572389990091324	5107236.8779121385887265	1930.3958128330111776	37.3006846490461044	16.8235575710749004	21.9806851590847074	0.8876217500015545	0.4603802550237087	0.0133285298695329	-0.3582744445129574	0.6719959995264517	0.6481209756128689	0.2894253812869720	-0.5800615462213908	0.7614207452270658
-DJI_20241106110656_0026_D	361253.0180869314935990	5107248.4266395708546042	1936.3981890909581125	37.2793537105229404	16.8221081940095019	21.9924686777272562	0.8875548364586235	0.4605098295157201	0.0133082379866317	-0.3584597279325509	0.6721480399609443	0.6478608151657130	0.2894011674638292	-0.5797824672203044	0.7616424718819911
-DJI_20241106110658_0027_D	361247.2163621342624538	5107259.8800193956121802	1942.4022458629315224	37.2868279552709012	16.8255521153222212	22.0062807312027289	0.8874522687949953	0.4607024033294708	0.0134820687235051	-0.3586671578460459	0.6719394279133516	0.6479624025343735	0.2894587025695629	-0.5798712794939306	0.7615529914095390
-DJI_20241106110700_0028_D	361241.5001700719585642	5107271.3560264967381954	1948.4342050627972185	37.2541579859672396	16.8300467181425368	22.0285570216016460	0.8872917020301752	0.4610135065896734	0.0134157463559975	-0.3590036496887191	0.6721125652119877	0.6475963860263128	0.2895337890792269	-0.5794232014909784	0.7618654333642989
-DJI_20241106110702_0029_D	361235.8966163186123595	5107282.7752829845994711	1954.4118250315809746	37.2526014353710337	16.8628056140015836	22.0261853043148541	0.8871529582523691	0.4612931164775187	0.0129726386879694	-0.3589047789809670	0.6720250139981827	0.6477420321280423	0.2900810029779493	-0.5793022020078994	0.7617492832028829
-DJI_20241106110704_0030_D	361230.2924179993569851	5107294.1105852825567126	1960.3014306416343970	37.2475071202833448	16.8719932072698917	22.0349543875409069	0.8870548884513687	0.4614832202494358	0.0129175192177432	-0.3590230970163057	0.6719771490285338	0.6477261203566707	0.2902344581254091	-0.5792063091953458	0.7617637499283854
-DJI_20241106110706_0031_D	361224.8928877474972978	5107305.1219778908416629	1965.7251595760558303	37.2983126650474617	16.8563295726731290	22.0509893432194595	0.8870278841766216	0.4615125281721402	0.0137010595687246	-0.3593011117388838	0.6713328749213888	0.6482398338215453	0.2899728328591279	-0.5799296141687735	0.7613129440734013
-DJI_20241106110708_0032_D	361222.0025926479720511	5107311.0826254999265075	1968.9300639115081140	37.2516247067568500	16.7965667724486600	22.0654111056925615	0.8872172398462216	0.4611325540137109	0.0142245192693599	-0.3596377990812937	0.6719717180306164	0.6473906576704245	0.2889744327645870	-0.5794918272036060	0.7620255897360739
-DJI_20241106110710_0033_D	361219.8599688696558587	5107315.3636478688567877	1971.3562318130839230	37.1237678231350827	16.7945156261792334	22.1187696637958311	0.8868915139210939	0.4617709251809540	0.0138222716033227	-0.3604677878918316	0.6729927344205806	0.6458666683685412	0.2889401606338574	-0.5777961509690388	0.7633250890009082
-DJI_20241106110712_0034_D	361217.4269094136543572	5107320.1336586624383926	1973.9298936829391096	37.0162401769692906	16.8286628417447979	22.1668539260145110	0.8864290540235764	0.4626797849544578	0.0130747381375092	-0.3611469284763842	0.6736862709107252	0.6447632933398695	0.2895106703300255	-0.5762588177033803	0.7642704670364815
-DJI_20241106110714_0035_D	361215.0734573148656636	5107324.9639345817267895	1976.4619374560797951	36.9568572886905500	16.8347295330640208	22.1649482037596037	0.8864126715639394	0.4627270862365729	0.0124987740955292	-0.3611058774777395	0.6743465604052423	0.6440956929840870	0.2896120179514500	-0.5754479647480134	0.7648428066769396
-DJI_20241106110716_0036_D	361212.7431565704755485	5107329.8713944088667631	1978.9870053584259040	36.9154429691220258	16.8349815384511210	22.1474183698182969	0.8865219317861615	0.4625318590705335	0.0119642721002367	-0.3608341794641311	0.6749525378075069	0.6436130566090571	0.2896162277783810	-0.5748942085740318	0.7652575315248185
-DJI_20241106110718_0037_D	361210.2697923938976601	5107334.8134605372324586	1981.5357332774017323	36.8653412816532651	16.8288407864759648	22.1438809845477778	0.8865729530566908	0.4624434329260511	0.0115961309024897	-0.3607911437356186	0.6755668340458576	0.6429923820226805	0.2895136430468905	-0.5742434362540206	0.7657847781256114
-DJI_20241106110720_0038_D	361207.8486306276754476	5107339.6564057087525725	1984.0383034858316478	36.8066102787526006	16.8575233926201520	22.1694650821551136	0.8862774330542309	0.4630228166336280	0.0110536390145819	-0.3611322512375293	0.6759106926286106	0.6424392832839737	0.2899927736598216	-0.5733712644238231	0.7662568657820366
-DJI_20241106110722_0039_D	361205.3073816846008413	5107344.5965768182650208	1986.6353141248823704	36.7729897079113783	16.9125547625322454	22.2235744853453205	0.8856777394608846	0.4641770210644779	0.0107067707159907	-0.3618635654347286	0.6756418754680534	0.6423105293585630	0.2909118454692467	-0.5727545278997965	0.7663697207849214
-DJI_20241106110724_0040_D	361201.8446754543110728	5107351.7259686095640063	1990.6070973096136640	36.6973731464881325	16.9315464537674956	22.1707136357691752	0.8859218693289422	0.4637419170329308	0.0092669213515288	-0.3610098803566325	0.6768454408937531	0.6415232773845631	0.2912289610076622	-0.5716849512869511	0.7670475922277795
-DJI_20241106110726_0041_D	361196.6741943747038022	5107362.0533178932964802	1995.8954400733070997	36.6262398166248602	16.9531550407320957	22.1765855961452552	0.8857830941930649	0.4640218224740196	0.0084887166079078	-0.3610591881739850	0.6775126030402521	0.6407908670984357	0.2915897334902283	-0.5706666461161993	0.7676685523932748
-DJI_20241106110728_0042_D	361190.6925298694404773	5107373.8858637325465679	2002.0575778047555104	36.6651631124079387	16.9697500600226512	22.2073641112812723	0.8855107825001650	0.4645327573652570	0.0089426735698652	-0.3615030308080629	0.6767652453344695	0.6413301500974050	0.2918667723337652	-0.5711375666527345	0.7672129216622091
-DJI_20241106110730_0043_D	361185.3005569541710429	5107384.7312531815841794	2008.0031568609767874	36.6820654639005141	16.9754164878104525	22.2401290911289315	0.8852771878356036	0.4649692297380956	0.0093763582828321	-0.3619984301583545	0.6762888802873984	0.6415531832689352	0.2919613626163096	-0.5713466249102899	0.7670212493424471
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