diff --git a/iMED_NVS/session_006_scene_7_tool_2/K.txt b/iMED_NVS/session_006_scene_7_tool_2/K.txt
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+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1025.3784533960 0.0000000000 564.1097162540
+0.0000000000 1027.3615030954 545.4681766787
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1026.0611814076 0.0000000000 653.9859682529
+0.0000000000 1027.3316875342 543.8496305887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1017.1944160018 0.0000000000 585.9134882891
+0.0000000000 1018.1541832560 536.3228366449
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1016.3324859120 0.0000000000 676.5122782405
+0.0000000000 1016.6175359755 533.7056559177
+0.0000000000 0.0000000000 1.0000000000
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+1 35.7082522835 -9.1757627888 -3.2713222566 -0.0187296062 -0.1607219723 0.1936808721 0.9676287352
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diff --git a/iMED_NVS/session_007_scene_11_tool_3/endoscope2/R/frame_000596.png b/iMED_NVS/session_007_scene_11_tool_3/endoscope2/R/frame_000596.png
new file mode 100644
index 0000000000000000000000000000000000000000..932f4da5ba9a44a9bde245d1778cc3683035e939
--- /dev/null
+++ b/iMED_NVS/session_007_scene_11_tool_3/endoscope2/R/frame_000596.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b030c7586723255b2d78368beb3abcb4519aec414ae13210cbb9cca50b38371c
+size 1996444
diff --git a/iMED_pe/hidden_test/session_006_scene_6_circular/K.txt b/iMED_pe/hidden_test/session_006_scene_6_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..18cd0b83cf4ce1d7284f83d5b7db8e923890a3bf
--- /dev/null
+++ b/iMED_pe/hidden_test/session_006_scene_6_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1025.3784533960 0.0000000000 564.1097162540
+0.0000000000 1027.3615030954 545.4681766787
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1026.0611814076 0.0000000000 653.9859682529
+0.0000000000 1027.3316875342 543.8496305887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1017.1944160018 0.0000000000 585.9134882891
+0.0000000000 1018.1541832560 536.3228366449
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1016.3324859120 0.0000000000 676.5122782405
+0.0000000000 1016.6175359755 533.7056559177
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/hidden_test/session_006_scene_6_circular/pose.txt b/iMED_pe/hidden_test/session_006_scene_6_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a5b3150d0863ae8a8ec22efcbf7df69f8590af02
--- /dev/null
+++ b/iMED_pe/hidden_test/session_006_scene_6_circular/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 1.0000000000
+20 4.0309615883 -4.3727493350 1.0849651304 -0.0065681787 -0.0198358412 -0.0008733642 0.9997812939
+32 5.4456779688 -8.9478724658 -0.1626545107 -0.0160922711 -0.0310488255 -0.0026182056 0.9993848879
+44 5.9317189766 -9.9310854634 -0.6907155954 -0.0189546746 -0.0456373568 0.0010455410 0.9987776824
+56 10.3707335926 -11.4697791060 -2.2615618851 -0.0318927602 -0.0719233840 0.0052351480 0.9968863887
+68 5.5543172108 -11.9280556166 -1.9422057083 -0.0436331535 -0.0536138273 0.0052132556 0.9975943702
+80 2.2195347042 -11.1560031970 -2.4065564290 -0.0479667509 -0.0385644709 0.0049440713 0.9980919439
+92 2.6731783643 -10.0756345315 -1.8161624378 -0.0526378623 -0.0326785677 0.0025524370 0.9980755742
+104 6.8867146297 -9.2626052822 -1.1569412770 -0.0530554203 -0.0401102795 0.0003842920 0.9977856183
+116 4.6340968807 -7.0811281851 0.3379438512 -0.0355243455 -0.0243380154 -0.0042700951 0.9990632854
+128 0.1064145404 -6.1989220971 -0.5868267441 -0.0268587091 -0.0059336585 -0.0044516342 0.9996117168
+140 -0.3977019461 -5.9757014033 -0.9016000255 -0.0216755910 -0.0050855805 -0.0054256400 0.9997373995
+152 0.0564371884 -5.5838538582 -0.8651256849 -0.0133079146 -0.0094501919 -0.0058588357 0.9998496224
+164 -0.7579743413 -6.9922305505 -2.1090313004 -0.0141887539 -0.0126411406 -0.0027703447 0.9998155860
+176 4.0981124444 -8.3961258229 -2.3516005296 -0.0254455040 -0.0405799710 0.0028587826 0.9988481464
+188 10.1687156713 -9.1777260087 -1.4051606108 -0.0377636235 -0.0689594598 0.0047805822 0.9968929971
+200 9.1535620237 -9.5757806621 -1.7165032690 -0.0518294552 -0.0661938330 0.0050988623 0.9964467300
+212 5.1234970529 -9.5673733838 -2.4448091616 -0.0596326004 -0.0418892680 0.0012673952 0.9973402809
+224 1.0929408247 -8.8269173959 -3.9773462273 -0.0561385044 -0.0156412574 -0.0022684300 0.9982978882
+236 -0.3547595050 -8.0915469255 -5.0443810476 -0.0429003227 -0.0038174788 -0.0079184509 0.9990406835
+248 -2.9490493140 -8.4816074194 -5.8478041537 -0.0351311628 0.0062166325 -0.0099438652 0.9993139018
+260 -5.2615210860 -8.0971280304 -7.1474964597 -0.0244910059 0.0141727576 -0.0095270352 0.9995541802
+272 -6.7359838333 -8.7390085470 -7.4433376435 -0.0199711566 0.0137346173 -0.0060810254 0.9996877184
+284 -11.6497871029 -8.5992642942 -8.1900164360 -0.0208528147 0.0234473733 -0.0007538473 0.9995072849
+296 -9.9213195038 -8.7232056559 -6.1246479336 -0.0370662344 0.0124312928 0.0008760476 0.9992351023
+305 -6.6755703883 -8.7781344583 -4.8311642662 -0.0453324385 0.0006394797 -0.0002628336 0.9989717173
+317 -2.1365954631 -8.8063965189 -3.4875091880 -0.0563274164 -0.0125367101 -0.0015195833 0.9983324817
+329 -2.7382882777 -8.5880323061 -4.0404644089 -0.0590246278 -0.0023283429 -0.0056993062 0.9982375419
+341 -6.2137041115 -8.8404033430 -6.6555655250 -0.0525390982 0.0174084643 -0.0071212544 0.9984417240
+353 -11.5609142103 -11.7842206086 -8.0830850835 -0.0491412038 0.0377338506 -0.0096115299 0.9980325231
+365 -12.2644619071 -10.8927223829 -8.4934965743 -0.0347206170 0.0374987662 -0.0098692929 0.9986445405
+377 -10.0344519398 -9.9609059399 -7.8971909388 -0.0250302335 0.0241094486 -0.0100718994 0.9993451750
+389 -5.4594343603 -8.1488579590 -6.2080836166 -0.0173783216 -0.0001478933 -0.0078412101 0.9998182272
+401 5.8888813132 -7.8679576284 -4.5770168659 -0.0236778192 -0.0494170476 -0.0020750162 0.9984953733
+413 10.6898129087 -9.4159173692 -4.3270691791 -0.0395547791 -0.0687178942 0.0026628648 0.9968481226
+425 6.4728317443 -11.0286219756 -5.7773444247 -0.0539534023 -0.0480012582 0.0006839766 0.9973888117
+437 -0.8347838889 -10.1643298912 -7.6093757776 -0.0556719478 -0.0133628211 -0.0036687413 0.9983529484
+449 -5.0960577509 -9.6879892752 -8.9977713540 -0.0533616581 0.0112614645 -0.0096521765 0.9984650962
+461 -2.1488156453 -9.3315148866 -9.5807938617 -0.0475327183 0.0028541538 -0.0102344152 0.9988131713
+473 1.8483120807 -9.2153316543 -9.0159703123 -0.0338925084 -0.0135134408 -0.0132790010 0.9992458921
+485 -2.8013180194 -8.9237139592 -9.6065179744 -0.0267363042 0.0012679712 -0.0139350758 0.9995445843
+497 -9.1732011015 -8.4483213285 -9.1785651769 -0.0205840776 0.0188480118 -0.0155348767 0.9994897277
+509 -7.7562719021 -9.4721956500 -8.1499962585 -0.0276221027 0.0042050079 -0.0146856679 0.9995017101
+521 1.1492284723 -10.4073439029 -6.4009128318 -0.0369453735 -0.0346814214 -0.0117929401 0.9986456654
+533 9.1074401245 -10.7530555188 -5.3818379680 -0.0474311980 -0.0664271423 -0.0072271697 0.9966370875
+545 5.3185223583 -8.6886062454 -5.5390599457 -0.0467138451 -0.0487041753 -0.0053801279 0.9977057553
+557 -5.0758618937 -8.8258504394 -7.8017485453 -0.0475359223 0.0016015507 -0.0073272080 0.9988413704
+569 -3.4169301957 -9.6257932603 -8.6051406782 -0.0473784271 0.0013012707 -0.0073087261 0.9988494250
+581 -0.2945370235 -9.8387135024 -9.2418840718 -0.0414855852 -0.0055934435 -0.0093612251 0.9990795900
+593 1.9404561328 -9.9813845762 -8.0952180083 -0.0337096609 -0.0160372904 -0.0109862322 0.9992425966
diff --git a/iMED_pe/hidden_test/session_006_scene_6_left_right/K.txt b/iMED_pe/hidden_test/session_006_scene_6_left_right/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..18cd0b83cf4ce1d7284f83d5b7db8e923890a3bf
--- /dev/null
+++ b/iMED_pe/hidden_test/session_006_scene_6_left_right/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1025.3784533960 0.0000000000 564.1097162540
+0.0000000000 1027.3615030954 545.4681766787
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1026.0611814076 0.0000000000 653.9859682529
+0.0000000000 1027.3316875342 543.8496305887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1017.1944160018 0.0000000000 585.9134882891
+0.0000000000 1018.1541832560 536.3228366449
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1016.3324859120 0.0000000000 676.5122782405
+0.0000000000 1016.6175359755 533.7056559177
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/hidden_test/session_006_scene_6_left_right/pose.txt b/iMED_pe/hidden_test/session_006_scene_6_left_right/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c547f81fe044896796502d569a7a55a5d8fcef6a
--- /dev/null
+++ b/iMED_pe/hidden_test/session_006_scene_6_left_right/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 -0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 1.0000000000
+20 0.4772720014 0.0728560583 -1.6524582532 -0.0001312586 0.0050578161 0.0024762672 0.9999841346
+32 -1.5524675035 0.0344876624 -1.7099464447 -0.0001190321 0.0111748473 0.0028795895 0.9999334061
+44 -6.2251741317 0.5243259731 -1.0787796690 0.0020766786 0.0228672325 0.0022045957 0.9997339230
+56 -4.8598193244 1.0133401171 0.3126758810 0.0043536354 0.0096805610 0.0015698797 0.9999424324
+68 0.9252580664 0.4052994056 0.2186036484 0.0025113317 -0.0223478915 -0.0008954225 0.9997466995
+80 -3.6001203788 -0.4839834853 -1.3573755142 -0.0012183989 -0.0041689478 -0.0033560127 0.9999849362
+92 -9.5643622882 -0.5257423433 -1.4997552581 -0.0017763500 0.0252342532 -0.0030251771 0.9996754100
+104 -12.6962957248 -0.2893534376 -2.0061651622 -0.0014869334 0.0478489902 -0.0003919495 0.9988533974
+116 -13.0625662596 -0.1972667975 -2.4687547910 -0.0015004957 0.0536957561 0.0021686176 0.9985538600
+128 -11.3307029280 0.0057392446 -3.0839018749 -0.0008962780 0.0476777349 0.0040499952 0.9988541574
+140 -1.9358549422 -0.2915005908 -1.3568090950 -0.0013019576 0.0041562614 0.0046543969 0.9999796833
+152 3.4357314572 -0.1520006309 0.1133559496 -0.0000136828 -0.0251304717 0.0020180228 0.9996821429
+164 3.3011458641 -0.1165219981 0.1600435789 0.0001715998 -0.0321006791 -0.0022935362 0.9994819942
+176 2.6352925049 -0.5158155680 0.0757575509 -0.0014303046 -0.0302661759 -0.0033064704 0.9995353821
+188 -1.7839762145 -0.3168547587 0.0339262655 -0.0008320955 -0.0089489301 -0.0017646058 0.9999580543
+200 -2.8482571779 0.1284434053 -0.2263348288 0.0001973574 0.0064136431 0.0003447731 0.9999793535
+212 -2.9767097593 0.7761750399 -0.1928976415 0.0018663789 0.0154502201 0.0011995884 0.9998781767
+224 0.8626584467 1.0272657548 0.2302151805 0.0027133495 0.0018031576 0.0020256696 0.9999926415
+236 2.8432770341 1.2142353491 0.1893028639 0.0031776300 -0.0070477231 0.0028106864 0.9999661656
+248 3.4699564022 1.3591488448 0.4938161756 0.0041324414 -0.0166603599 0.0019334116 0.9998507975
+260 0.3992413203 1.3417345311 0.6104378428 0.0044207922 -0.0144066190 -0.0002818900 0.9998864068
+272 -0.3002480913 0.3598166815 -0.0622407700 0.0014652812 -0.0207044865 -0.0035707350 0.9997781889
+284 0.4678209802 0.2223110183 -0.0400001461 0.0004309158 -0.0199562310 -0.0047063099 0.9997896848
+296 -3.6188501386 1.0108927680 -0.4438325904 0.0022514207 0.0067666179 -0.0033934399 0.9999688138
+305 -3.7555272661 1.2910458150 -0.7253319887 0.0026654551 0.0154338768 -0.0019470056 0.9998754422
+317 -0.9071272736 1.2575538110 -0.9971255793 0.0022425549 0.0135096709 0.0000611637 0.9999062236
+329 -3.9511652406 1.2301249054 -1.1640529146 0.0024143263 0.0291206052 0.0021751108 0.9995706230
+341 -5.3235287913 1.7394361386 -1.9795336588 0.0052194477 0.0274766379 0.0014428550 0.9996077780
+353 -1.2951598571 1.5979137658 -1.7052624799 0.0060391513 -0.0009592541 -0.0003720636 0.9999812348
+365 3.2435678748 1.6645141530 -1.7659373575 0.0076629978 -0.0295350971 -0.0026216281 0.9995309318
+377 1.6760174851 1.8462137469 -1.0789294513 0.0086667107 -0.0274203066 -0.0042097485 0.9995775572
+389 0.5782915764 0.9511232269 -1.8133347252 0.0043413303 -0.0146755193 -0.0028865125 0.9998787177
+401 0.1724938141 0.3959073451 -1.6813572472 0.0013732112 -0.0032966130 0.0001767273 0.9999936077
+413 -1.6650457878 0.7592048432 -2.5783847848 0.0021649414 0.0104271768 0.0018877217 0.9999415100
+425 -2.5444620627 1.1173836831 -1.9369236254 0.0034943271 0.0141308246 0.0023903812 0.9998911919
+437 -3.6912960895 1.5440759173 -1.9024019570 0.0060426573 0.0104422145 0.0011976740 0.9999265033
+449 -2.0866437188 1.4760285417 -2.4415507339 0.0069079083 -0.0094260927 -0.0009322483 0.9999312779
+461 -5.2566558963 1.3598307236 -2.9332048047 0.0072399807 -0.0063748311 -0.0025991882 0.9999500930
+473 -8.3121497826 1.0941696272 -2.9181568826 0.0065020188 0.0040887718 -0.0021190918 0.9999682571
+485 -3.8652966118 0.2332585052 -2.9083577275 0.0027442805 -0.0005928183 -0.0001984925 0.9999960390
+497 5.5763883770 -0.0138220009 -3.0733245566 0.0008579719 -0.0197382644 0.0017002199 0.9998033677
+509 7.8460418061 -0.6887976370 -3.1411005388 -0.0027305119 -0.0151065524 0.0046874069 0.9998711740
+521 1.1258840172 -0.8071736399 -2.8723407715 -0.0034910774 0.0115140648 0.0067818665 0.9999046179
+533 -1.7907610845 -0.1657657634 -2.4991364277 -0.0004171089 0.0131966832 0.0064878388 0.9998917849
+545 -1.3431677415 1.0261726497 -2.6486801773 0.0050519552 -0.0030867004 0.0031354394 0.9999775593
+557 1.6042936249 0.8274563342 -3.9776782982 0.0055724694 -0.0272263781 0.0001960508 0.9996137421
+569 -1.4921247497 0.5054578514 -4.8875847783 0.0045481968 -0.0166716320 -0.0014447277 0.9998496304
+581 -2.6051157753 0.4480943927 -4.2390552494 0.0034759354 -0.0041684871 -0.0010704070 0.9999846978
+593 -2.4432196883 0.8909666017 -3.4755054965 0.0041459624 0.0036602719 -0.0006441949 0.9999844991
diff --git a/iMED_pe/hidden_test/session_006_scene_6_zoom_in/K.txt b/iMED_pe/hidden_test/session_006_scene_6_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..18cd0b83cf4ce1d7284f83d5b7db8e923890a3bf
--- /dev/null
+++ b/iMED_pe/hidden_test/session_006_scene_6_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1025.3784533960 0.0000000000 564.1097162540
+0.0000000000 1027.3615030954 545.4681766787
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1026.0611814076 0.0000000000 653.9859682529
+0.0000000000 1027.3316875342 543.8496305887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1017.1944160018 0.0000000000 585.9134882891
+0.0000000000 1018.1541832560 536.3228366449
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1016.3324859120 0.0000000000 676.5122782405
+0.0000000000 1016.6175359755 533.7056559177
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/hidden_test/session_006_scene_6_zoom_in/pose.txt b/iMED_pe/hidden_test/session_006_scene_6_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f9830d533f2f58ca631a71b90f167e51aad2b2dd
--- /dev/null
+++ b/iMED_pe/hidden_test/session_006_scene_6_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 1.0000000000
+20 4.5550498266 1.2488139515 4.4051607402 0.0051659557 -0.0182197142 0.0026329615 0.9998171945
+32 -2.0001387041 -1.5916408112 6.4786731101 -0.0057772740 0.0065823104 0.0027609939 0.9999578357
+44 -12.8177231900 -5.5933187113 3.7521392082 -0.0216563977 0.0480950052 -0.0015394921 0.9986067799
+56 -20.4391417672 -7.8354842086 -0.1384247081 -0.0299566250 0.0765128946 -0.0057912380 0.9966016452
+68 -39.8611424483 -17.1986318275 -5.6856486843 -0.0640296122 0.1506084279 -0.0079193529 0.9864859827
+80 -41.7888904785 -18.0516747959 -6.8282701009 -0.0669126326 0.1586961950 -0.0082102488 0.9850232531
+92 -42.6741223566 -18.9735444640 -5.7366373562 -0.0702520025 0.1634917463 -0.0062548481 0.9840203158
+104 -48.5994025991 -22.0225969213 -1.0423850999 -0.0835022757 0.1921205477 -0.0004185013 0.9778122979
+116 -46.9821787500 -22.5448809047 0.2228216672 -0.0878586766 0.1909346155 -0.0001557084 0.9776629283
+128 -46.3767325457 -22.6143453522 0.3312026829 -0.0900885436 0.1903070165 -0.0026273951 0.9775788411
+140 -46.1986074932 -21.8425669824 -1.2955225438 -0.0867311429 0.1868186883 -0.0034185675 0.9785524002
+152 -41.8793754792 -20.1664270061 -3.2479788579 -0.0781781169 0.1650833634 -0.0031893630 0.9831711413
+164 -42.4727865694 -18.1409395379 -4.1818792277 -0.0681089715 0.1588585412 -0.0032550677 0.9849439255
+176 -42.8744764075 -18.0358763868 -4.5429293710 -0.0671553843 0.1583779426 -0.0029813153 0.9850876577
+188 -42.2899560492 -18.5039931762 -5.0561940062 -0.0678391062 0.1554499676 -0.0019305699 0.9855097342
+200 -50.5098259675 -19.3667987308 -3.6723158020 -0.0715635867 0.1896318235 -0.0026721157 0.9792401566
+212 -55.6945704219 -20.1774292734 -0.5755422881 -0.0757098888 0.2187394563 -0.0028731081 0.9728375035
+224 -56.4475084664 -20.3029273735 2.1568301215 -0.0779592956 0.2275055047 -0.0043947868 0.9706411692
+236 -51.7114420601 -20.6232907948 3.0864620152 -0.0802714561 0.2142247995 -0.0048549389 0.9734683653
+248 -51.6512349015 -20.2805928549 2.8879616742 -0.0791812882 0.2139315441 -0.0064917356 0.9736125900
+260 -52.2841696263 -20.2381680096 2.4732679412 -0.0787573749 0.2147756794 -0.0067467468 0.9734593802
+272 -51.3437831985 -20.2139917543 -0.8087505534 -0.0768535615 0.2043333079 -0.0048837111 0.9758676031
+284 -52.7107464781 -20.3928613345 -3.4613555878 -0.0760929400 0.2017861119 -0.0043740154 0.9764594705
+296 -57.7613479100 -20.8997253602 -4.3669927701 -0.0770589394 0.2155142709 -0.0046298820 0.9734444427
+305 -59.1363621115 -21.2927787944 -5.1890019915 -0.0774666986 0.2175043758 -0.0038034559 0.9729729137
+317 -59.5451474244 -21.7103068109 -3.5710637662 -0.0792617518 0.2217416807 -0.0031169844 0.9718736987
+329 -55.8795509698 -21.1584978899 -2.0569939831 -0.0784102663 0.2121789292 -0.0026269573 0.9740765017
+341 -53.2653843212 -20.6094081071 0.2818379647 -0.0779253586 0.2107195343 -0.0026607928 0.9744320584
+353 -36.9440691960 -15.3202647406 2.1360744431 -0.0578255779 0.1485946050 0.0009530825 0.9872056207
+365 -24.5397316005 -9.7298116222 4.3107207466 -0.0358565395 0.0994292904 0.0035058210 0.9943921933
+377 -12.2468146900 -3.9154858424 6.4300833514 -0.0123439149 0.0470529915 0.0063472361 0.9987959533
+389 -16.5704786094 -5.7917114819 4.1399631813 -0.0186560459 0.0613591009 0.0051578942 0.9979280579
+401 -37.2453572022 -12.7310932592 0.6562911442 -0.0451874823 0.1410198384 -0.0008270206 0.9889746269
+413 -62.9631912959 -18.6487847556 -1.6341689244 -0.0673642822 0.2359283082 -0.0082131882 0.9693979732
+425 -66.3449198103 -19.1199849055 -2.9849457332 -0.0671964142 0.2420461835 -0.0085753545 0.9678970763
+437 -63.6682529603 -19.3037324997 -3.2282332831 -0.0675614693 0.2325085821 -0.0077579209 0.9702139052
+449 -69.1324208147 -19.4703106707 0.8131868844 -0.0703579795 0.2634112001 -0.0071536797 0.9620878958
+461 -68.5280642635 -19.5172668515 2.2733736422 -0.0720950030 0.2687080834 -0.0051328709 0.9605060802
+473 -64.4933207047 -19.9523119367 3.6459509630 -0.0758661536 0.2596833679 -0.0035908515 0.9627024364
+485 -60.4169045686 -19.8522708986 3.5155170075 -0.0764837166 0.2469368385 -0.0035352403 0.9660020398
+497 -60.7693357516 -19.8477553796 3.6115282376 -0.0766736282 0.2489670275 -0.0041110568 0.9654634499
+509 -63.7187063333 -20.5206510901 3.6046275493 -0.0785341706 0.2578171030 -0.0056256215 0.9629803102
+521 -65.0943324011 -20.0099421968 0.6312334768 -0.0737189029 0.2517583675 -0.0072601594 0.9649510546
+533 -68.1952034273 -19.1606969184 -0.8130191241 -0.0689014394 0.2557152581 -0.0085189896 0.9642560475
+545 -68.5717234078 -19.4220791156 -2.8132234939 -0.0678694278 0.2500358567 -0.0086640945 0.9658161029
+557 -62.6157297982 -20.3422374184 -3.5885009147 -0.0712013991 0.2288491501 -0.0058169201 0.9708370567
+569 -56.8424263574 -20.2491549707 -1.7402803587 -0.0722658625 0.2139401363 -0.0041192969 0.9741613288
+581 -50.2495445915 -15.1714866393 1.1383413584 -0.0534640540 0.1950467993 -0.0022796533 0.9793330099
+593 -46.8350003125 -11.2633035194 3.3483230879 -0.0389998263 0.1860153641 -0.0016627735 0.9817711205
diff --git a/iMED_pe/hidden_test/session_007_scene_4_circular/K.txt b/iMED_pe/hidden_test/session_007_scene_4_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/hidden_test/session_007_scene_4_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/hidden_test/session_007_scene_4_circular/pose.txt b/iMED_pe/hidden_test/session_007_scene_4_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d16a41189c9ea221bcf1b1bafefc0922245fd2dc
--- /dev/null
+++ b/iMED_pe/hidden_test/session_007_scene_4_circular/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 -0.0000000000 0.0000000000 1.0000000000
+20 -1.0848780959 1.0224804363 0.7286013790 -0.0019944607 -0.0026081124 -0.0074870886 0.9999665811
+32 -1.0360346237 1.8437403026 1.1249138581 -0.0087894400 -0.0043362521 -0.0111156316 0.9998901867
+44 -0.7365948512 1.7581567466 0.2116425105 -0.0155171742 0.0003708270 -0.0097402236 0.9998320898
+56 -0.4989662235 1.6856094439 -0.7917121647 -0.0142848795 0.0076012991 -0.0046213297 0.9998583929
+68 -0.1955335205 1.4748675171 -1.4599352723 -0.0080676745 0.0118032512 -0.0014280102 0.9998967730
+80 0.5919537558 1.0641432704 -1.3276878703 0.0000731941 0.0091581332 -0.0020396580 0.9999559805
+92 0.5556925158 0.9828906273 -0.9176097737 0.0068242209 0.0083303261 -0.0010177126 0.9999414983
+104 0.0278960868 0.5183253054 -0.1231898662 0.0066767777 0.0061045206 -0.0044122397 0.9999493425
+116 -0.6734287711 0.2967306878 0.1666924538 0.0008801889 0.0011586603 -0.0099242085 0.9999496952
+128 -2.2275398010 1.3225132742 0.6838989831 -0.0028954933 0.0054968749 -0.0040017266 0.9999726930
+140 -1.8098124313 2.5309967058 0.5795942550 -0.0048931149 0.0056460631 0.0022531379 0.9999695509
+152 0.2960115434 2.9848407928 0.1072559111 -0.0056527256 -0.0016265982 0.0056900489 0.9999665115
+164 0.8892711306 2.2671788051 -0.8700378103 -0.0065309164 -0.0012291444 0.0077117659 0.9999481812
+176 0.3155040323 1.5102951653 -1.5762637999 -0.0018806015 0.0082683044 0.0064026349 0.9999435508
+188 0.0282130665 1.1357415919 -1.8304116996 0.0075347768 0.0110212032 0.0059529898 0.9998931554
+200 0.3612825966 -0.2161627802 -1.8146997238 0.0056964305 0.0041976139 0.0036996836 0.9999681210
+212 -0.3922291286 -0.3699857873 -0.5009430182 0.0057510833 0.0008759155 -0.0021440689 0.9999807802
+224 -2.0560354986 -0.2206113789 0.4847401005 -0.0023824737 0.0023268951 -0.0099633558 0.9999448189
+236 -1.8751727969 1.7753812370 1.2074911696 -0.0043246234 0.0004787798 -0.0131751229 0.9999037376
+248 -0.0832926343 2.0480893495 0.4250439095 -0.0106374124 -0.0044432835 -0.0085399408 0.9998970808
+260 0.2844680719 2.0482106144 -0.6768420817 -0.0117818967 0.0015547358 -0.0036509979 0.9999227170
+272 1.1811495755 2.2792445134 -0.9876588404 -0.0058223645 0.0043097864 0.0022304015 0.9999712751
+284 1.3977143692 2.1430744246 -1.0460375147 0.0034999233 0.0044433688 0.0051693428 0.9999706420
+296 0.5288440945 1.0086537013 -1.1357520775 0.0056418194 0.0072462069 0.0035355015 0.9999515801
+305 -0.2023448214 -0.1466412603 -0.6153147669 0.0013148379 0.0062470476 0.0000660768 0.9999796204
+317 -0.8214272237 -0.0155396824 0.4040571901 -0.0004176853 0.0011175885 -0.0088716373 0.9999599345
+329 -1.4953416743 0.9670623041 0.4950051301 -0.0051814838 0.0022816722 -0.0125455097 0.9999052737
+341 -1.4722625861 0.8956362270 0.0432470815 -0.0161328930 0.0067255940 -0.0080810739 0.9998145790
+353 -1.3064697117 0.8571397760 -0.6153472899 -0.0177969077 0.0123683378 -0.0032949853 0.9997596898
+365 0.2295587151 1.6510797557 -1.3090323477 -0.0092398569 0.0116366900 0.0022658227 0.9998870329
+377 0.1426555029 2.4638688690 -1.2129240075 0.0042886381 0.0155090104 0.0083978382 0.9998352637
+389 0.8686864757 1.2729087541 -1.4059161033 0.0076245904 0.0087655103 0.0084666061 0.9998966687
+401 1.5857862882 0.4276689240 -1.2210101534 0.0081654577 -0.0020597402 0.0029807319 0.9999600982
+413 0.1240954038 -0.0915424384 -0.5751545556 0.0019362779 -0.0013033392 -0.0041392428 0.9999887093
+425 -1.5512590271 0.7749941599 -0.1430861049 -0.0050147748 0.0037063942 -0.0101604760 0.9999289372
+437 0.3428948962 1.4942845799 -0.7784235341 -0.0111518635 -0.0026749121 -0.0108111852 0.9998757918
+449 0.1522150523 1.2228065981 -1.6454014512 -0.0129150811 0.0061026084 -0.0072983066 0.9998713385
+461 -0.2283130347 1.0350456764 -2.1859901122 -0.0045064263 0.0108171746 -0.0029171959 0.9999270828
+473 -1.1578320643 0.3484939897 -2.6272840802 0.0035263889 0.0170663814 -0.0039197703 0.9998404566
+485 -0.4128514487 -0.0261378755 -1.9387669413 0.0084137366 0.0112702487 -0.0028128325 0.9998971340
+497 0.0173192436 -0.1787877106 -0.3882953083 0.0084516764 0.0033449925 -0.0070309325 0.9999339709
+509 -0.6731332960 -0.0309269039 0.2651099462 -0.0013984687 0.0026818550 -0.0110697352 0.9999341543
+521 -0.1171851406 2.2482326566 1.2041248090 -0.0052747230 0.0013703325 -0.0018419230 0.9999834533
+533 0.1073715008 2.9726835399 0.6702084900 -0.0096974419 0.0038451476 0.0028974607 0.9999413879
+545 0.7275999735 2.3097161398 -0.5735087294 -0.0091670655 0.0053773074 0.0070058604 0.9999189804
+557 1.5405122868 2.0919881572 -1.4736917991 -0.0021996404 0.0059472212 0.0050917904 0.9999669324
+569 0.9489357603 1.5427092392 -1.2568438759 0.0027083930 0.0100487410 0.0020154836 0.9999438110
+581 0.6014172128 1.1981653092 -0.4461190944 0.0070522508 0.0096480799 0.0029269618 0.9999243037
+593 0.8734033025 0.6125068082 -0.0117123919 0.0065197564 0.0029332989 -0.0044137056 0.9999647032
diff --git a/iMED_pe/hidden_test/session_007_scene_4_left_right/K.txt b/iMED_pe/hidden_test/session_007_scene_4_left_right/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/hidden_test/session_007_scene_4_left_right/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/hidden_test/session_007_scene_4_left_right/pose.txt b/iMED_pe/hidden_test/session_007_scene_4_left_right/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..534013303c22349b0b8d97f2361139c4bd489b1f
--- /dev/null
+++ b/iMED_pe/hidden_test/session_007_scene_4_left_right/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 1.0000000000
+17 -0.1335923985 0.4132983422 -0.4637688863 0.0025974952 0.0053701987 0.0042898442 0.9999730052
+26 -0.6763240355 1.1962768188 -0.5224620048 0.0079786375 0.0128926711 0.0085622540 0.9998483926
+35 -0.2823066574 1.4691297183 -0.7958090947 0.0101277204 0.0145116115 0.0095706622 0.9997976019
+44 0.3174704844 0.8944442756 -1.1503593708 0.0065363174 0.0136707222 0.0085746994 0.9998484197
+56 -0.2308184896 0.1093004272 -1.0825717335 0.0011358941 0.0160607634 0.0074562363 0.9998425707
+65 -0.1027791287 0.5226103331 -0.7471963640 0.0034466369 0.0103875767 0.0029374428 0.9999357931
+74 -0.1405534037 0.4213173388 -0.4665118731 0.0025145703 0.0048603841 -0.0020905973 0.9999828414
+83 -0.4013313484 0.0320506973 0.1503582941 -0.0001458496 0.0017296952 -0.0060626685 0.9999801153
+92 -0.9500233213 -0.1443255366 0.8345396329 -0.0013039478 0.0009830299 -0.0097815541 0.9999508261
+101 -1.5029347573 -0.0299141723 0.9908192278 -0.0006965391 0.0010833854 -0.0131469491 0.9999127456
+110 -1.4631698201 -0.3900148007 0.9185265508 -0.0031054645 -0.0014775893 -0.0150941177 0.9998801630
+119 -1.8283609791 -0.6562148424 1.1457629848 -0.0047385592 -0.0002590470 -0.0159111467 0.9998621477
+131 -1.9323843471 -0.2106990516 1.0353793502 -0.0012759469 0.0026389638 -0.0143362489 0.9998929342
+140 -0.8171876617 0.0537985505 0.1771327817 0.0008140783 -0.0000731864 -0.0113739560 0.9999349804
+149 -0.6699358920 0.0785029040 -0.6590997292 0.0004183854 0.0045969987 -0.0062100802 0.9999700633
+158 -0.7071909342 0.2574846772 -0.8670467587 0.0010161935 0.0093957454 -0.0015123502 0.9999541990
+167 -0.7090974340 0.4900451896 -1.0986046758 0.0024344477 0.0120930737 0.0011289995 0.9999232753
+176 -0.3748426464 0.9397968268 -1.1727762457 0.0051137531 0.0123454728 0.0031217755 0.9999058422
+185 -0.3468026027 1.0060744964 -1.0476311654 0.0055887319 0.0129167686 0.0038211328 0.9998936554
+194 -0.6205649994 0.8032787205 -0.7281362596 0.0048834573 0.0121350528 0.0015707662 0.9999132087
+206 -0.2486884618 -0.0604793493 -0.5272919407 0.0005495028 0.0021055801 -0.0052361813 0.9999839234
+215 -1.4503940022 -0.5368615185 -0.2503049113 -0.0015981329 0.0039577883 -0.0092515810 0.9999480937
+224 -2.0135843970 -0.6513521300 0.1070228855 -0.0022633888 0.0031231196 -0.0127276430 0.9999115612
+233 -2.5748400750 -0.4157072694 0.6462212801 -0.0010444883 0.0033134746 -0.0149597247 0.9998820613
+242 -2.2873630512 -0.8148702114 0.7448214184 -0.0042896643 -0.0027129608 -0.0179943705 0.9998252054
+251 -2.6875672400 -1.1450115563 0.8436055752 -0.0076098145 -0.0038430264 -0.0198168601 0.9997672799
+260 -2.9951750983 -1.0525501979 0.9908043482 -0.0079908763 -0.0039992700 -0.0195150036 0.9997696316
+269 -3.3204319074 -0.8928632891 1.0046580714 -0.0066684628 -0.0010189335 -0.0176024016 0.9998223086
+281 -2.9510684471 -0.8124785948 0.8017266031 -0.0041708688 0.0050343791 -0.0132822119 0.9998904149
+290 -1.7115065525 -0.6950092648 -0.2853483343 -0.0032342282 0.0037545358 -0.0082480210 0.9999537056
+299 -1.4734230702 -0.5290156001 -0.8865969051 -0.0027169102 0.0071045246 -0.0029909699 0.9999665986
+308 -0.7351339619 0.5363263768 -0.7596137249 0.0034781997 0.0069351333 -0.0007159513 0.9999696463
+317 0.2872140423 0.8565752696 -0.8475790789 0.0050186494 0.0028978852 0.0011143852 0.9999825866
+326 0.1184836753 1.0065756652 -0.5524861508 0.0060483918 0.0061315204 0.0042678769 0.9999538023
+335 -0.5649066767 1.0070547668 -0.1539594632 0.0060116584 0.0119050508 0.0059374087 0.9998934328
+344 -1.5520859469 0.7235076144 -0.4723282249 0.0041515006 0.0153041655 0.0041150013 0.9998657982
+356 -1.4232707751 0.5322022564 -0.3742972916 0.0029652142 0.0091734340 -0.0009767629 0.9999530497
+365 -1.1216664955 0.1676698962 0.0443623082 0.0011073396 0.0034723405 -0.0048010608 0.9999818331
+374 -1.4435632867 -0.1628453327 0.4735734801 -0.0005203848 0.0013305527 -0.0086512014 0.9999615570
+383 -2.3859154615 -0.1104462567 0.6389543245 0.0000155433 0.0032166174 -0.0116757205 0.9999266627
+392 -2.8762661541 -0.3500673124 1.1150079421 -0.0014246893 0.0038775717 -0.0130808443 0.9999059087
+401 -2.9415238430 -0.4037013563 1.5181253906 -0.0018810101 0.0015952947 -0.0149296163 0.9998855051
+410 -3.3304035094 -0.5737225895 1.4990874645 -0.0036585510 0.0007404155 -0.0169728382 0.9998489834
+419 -3.5621464933 -1.0686998346 1.0242329323 -0.0069712094 0.0008826463 -0.0184413271 0.9998052514
+431 -2.1392929635 -0.6228559290 1.0860107763 -0.0026347224 -0.0029614705 -0.0155176595 0.9998717369
+440 -0.8769984031 -0.3830455405 0.7005214346 -0.0000762975 -0.0075326789 -0.0138024827 0.9998763646
+449 -0.5290570578 -0.2659812572 0.1916794327 0.0010505157 -0.0059269234 -0.0103534935 0.9999282840
+458 -0.7273346095 -0.3407421048 -0.4025925317 0.0005436759 -0.0008313503 -0.0066270578 0.9999775474
+467 -0.7063874295 -0.4454751585 -0.8826582004 -0.0005409317 0.0042671466 -0.0016987687 0.9999893065
diff --git a/iMED_pe/hidden_test/session_007_scene_4_zoom_in/K.txt b/iMED_pe/hidden_test/session_007_scene_4_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/hidden_test/session_007_scene_4_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/hidden_test/session_007_scene_4_zoom_in/pose.txt b/iMED_pe/hidden_test/session_007_scene_4_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6ea26aa8b1bff7a7c4e96b8ffd9dc63a42405951
--- /dev/null
+++ b/iMED_pe/hidden_test/session_007_scene_4_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 1.0000000000
+14 0.4462181944 -0.0946730636 -0.2881856708 -0.0002897834 -0.0031629994 -0.0001007564 0.9999949506
+17 0.6830993635 -0.1554646393 -0.3926673658 -0.0004715423 -0.0048562841 -0.0001857387 0.9999880798
+23 1.2460424769 -0.3342643430 -0.4783594580 -0.0012355430 -0.0086239010 -0.0004514767 0.9999619482
+29 1.5701915589 -0.3753037091 -0.1062450397 -0.0011172636 -0.0101076427 -0.0006741433 0.9999480651
+32 1.6843985194 -0.3314770754 0.3135938618 -0.0006945809 -0.0100097109 -0.0008036417 0.9999493374
+38 1.9223715054 -0.1653461011 1.3621985426 0.0003872803 -0.0092991909 -0.0009616797 0.9999562242
+44 2.6213155814 -0.0722241114 2.3960791818 0.0005791833 -0.0114194983 -0.0016794259 0.9999332173
+47 2.9175347560 -0.1466023057 2.7709453695 -0.0001943978 -0.0123194380 -0.0024020097 0.9999212089
+53 3.0944216520 -0.4872181157 3.2199981569 -0.0029447265 -0.0118289555 -0.0040216716 0.9999176119
+59 3.1589709332 -0.8603363337 3.4816728252 -0.0058883907 -0.0104956186 -0.0049366516 0.9999153956
+62 3.1977199252 -1.0607010667 3.6884369186 -0.0075114881 -0.0095467077 -0.0050178204 0.9999136260
+68 3.4011157025 -1.2016477435 4.3073872979 -0.0090663086 -0.0085342710 -0.0044438097 0.9999126066
+74 3.6819709103 -1.0963499516 4.9668056277 -0.0088775511 -0.0090188237 -0.0038522032 0.9999125014
+77 3.8405599042 -0.9657013680 5.2141160525 -0.0081922844 -0.0097558429 -0.0038035880 0.9999116175
+83 4.0746747867 -0.7366609730 5.4215306383 -0.0068909961 -0.0110871020 -0.0036789785 0.9999080235
+89 3.9751181080 -0.6284015090 5.2797494460 -0.0061666978 -0.0106990420 -0.0034719825 0.9999177205
+92 3.7560593995 -0.5716352536 5.0901645006 -0.0056649625 -0.0097852603 -0.0036605944 0.9999293760
+98 3.4176334174 -0.4974689812 4.6731135009 -0.0047846334 -0.0088972810 -0.0040373269 0.9999408211
+104 3.4448462085 -0.6984613527 3.9985067214 -0.0055221500 -0.0111273648 -0.0041183611 0.9999143597
+107 3.4072932859 -0.9424019522 3.5492712856 -0.0068226421 -0.0121762874 -0.0039048991 0.9998949652
+113 3.4871772926 -1.3769038505 2.6689259694 -0.0091776384 -0.0151791743 -0.0033100615 0.9998371903
+119 3.0646595138 -1.2659373726 1.9211836164 -0.0078874664 -0.0151644599 -0.0028068601 0.9998499630
+122 2.6009768058 -0.8820143103 1.6614587264 -0.0052418219 -0.0131835972 -0.0021447722 0.9998970527
+128 1.8498175484 -0.2875010636 1.1356669924 -0.0014174575 -0.0097832301 -0.0009350919 0.9999507012
+134 1.1631493401 0.1154848729 0.3842843895 0.0008443176 -0.0066128875 0.0004626128 0.9999776712
+140 0.6097968579 0.1065037784 -0.5267841189 0.0002846406 -0.0043713293 0.0017115599 0.9999889405
+143 0.3792189258 0.0822219998 -0.8411498183 -0.0000283426 -0.0033899721 0.0021538777 0.9999919340
+149 -0.3159906248 0.0583181041 -1.1757831408 -0.0002676287 0.0003307829 0.0028062634 0.9999959719
+155 -0.7022825241 0.0495730508 -1.0994148909 -0.0002369887 0.0026464557 0.0029688975 0.9999920628
+158 -0.4306436558 0.0816000487 -0.8676947605 -0.0000018166 0.0012414125 0.0027795738 0.9999953664
+164 0.4159445199 0.3041157238 -0.0907029594 0.0014074228 -0.0026227003 0.0019228881 0.9999937215
+170 1.3648457604 0.2674765897 0.9407036982 0.0008213251 -0.0061758151 0.0007628969 0.9999803012
+173 1.6239867614 0.0360567175 1.4185247865 -0.0009288505 -0.0065786817 0.0001263923 0.9999779209
+179 2.0306783604 -0.6624614614 2.3338908577 -0.0060659765 -0.0066583449 -0.0010644036 0.9999588679
+185 2.0110713493 -1.3086901317 3.1181371249 -0.0107572399 -0.0041901450 -0.0016681527 0.9999319686
+188 1.9633415462 -1.3846468817 3.4655983213 -0.0114537508 -0.0026622838 -0.0018046206 0.9999292311
+194 2.1009906324 -1.2956538183 4.0822921655 -0.0112024068 -0.0011265871 -0.0021519031 0.9999343009
+200 2.9986822710 -1.0768848253 4.8076949586 -0.0101030616 -0.0046360918 -0.0029549877 0.9999338492
+203 3.2522833568 -1.1399074431 5.0553687265 -0.0106516083 -0.0057122298 -0.0032108675 0.9999217989
+209 3.1402351643 -1.5737402718 5.1586887328 -0.0137286549 -0.0050018215 -0.0031755932 0.9998882045
+215 3.4501185833 -1.5939141038 5.0823256635 -0.0141680871 -0.0072214585 -0.0031986179 0.9998684337
+218 3.7912186384 -1.3526738984 5.0382518681 -0.0126569619 -0.0095841162 -0.0033060122 0.9998684995
+224 4.1365947244 -0.8706235804 4.7905044170 -0.0093093552 -0.0127982633 -0.0031730214 0.9998697277
+230 3.4460414629 -0.8480145819 4.0389060896 -0.0085374948 -0.0104740191 -0.0024857763 0.9999056091
+233 2.9180590004 -0.8963414272 3.5701326544 -0.0085630864 -0.0081815093 -0.0019599676 0.9999279449
+239 2.2078222835 -0.7888956334 2.6993172917 -0.0076591209 -0.0052955055 -0.0006537640 0.9999564331
+245 1.9534369662 -0.5202870012 1.8405742470 -0.0059477666 -0.0051212005 0.0012504976 0.9999684163
+248 1.7618298830 -0.4177356693 1.3569644469 -0.0050906327 -0.0047700197 0.0025297332 0.9999724660
+254 1.5498562693 -0.2023585349 0.6321782844 -0.0028386628 -0.0048485040 0.0042846175 0.9999750377
diff --git a/iMED_pe/test/session_004_scene_2_circular/K.txt b/iMED_pe/test/session_004_scene_2_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f140f2d82c21048b19ad046665e0a7812e87d59f
--- /dev/null
+++ b/iMED_pe/test/session_004_scene_2_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1033.3860978293 0.0000000000 615.3035648109
+0.0000000000 1032.5533163688 505.2699727155
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1036.2458860814 0.0000000000 704.0320236146
+0.0000000000 1034.4468447603 505.9145908601
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1039.5010572364 0.0000000000 565.5091746366
+0.0000000000 1040.0475664751 532.1105243640
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1044.2533169984 0.0000000000 657.6717564931
+0.0000000000 1040.2221528764 531.9170728122
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_004_scene_2_circular/pose.txt b/iMED_pe/test/session_004_scene_2_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..91cfbff16a424b733d8e354359c193e97d04a023
--- /dev/null
+++ b/iMED_pe/test/session_004_scene_2_circular/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 1.0000000000
+20 -0.0533576384 0.9679613126 -0.7456651421 -0.0055864444 0.0001251280 -0.0024467307 0.9999813946
+32 0.6676099457 1.6029832046 -0.8512093159 -0.0098285291 0.0078372544 -0.0037013222 0.9999141352
+44 1.4417663224 1.5064544883 0.0746973065 -0.0103520482 0.0197308827 -0.0022549633 0.9997491898
+56 1.8035810588 0.3068997531 1.5457451277 -0.0060192177 0.0263758986 0.0031738641 0.9996289349
+68 1.5602716471 -1.0630875973 2.4933196153 0.0017233222 0.0233122026 0.0057961926 0.9997099457
+80 0.9448325816 -1.4475607217 2.0697763544 0.0061738855 0.0138006099 0.0031077612 0.9998808770
+92 0.2232162912 -1.0314094921 0.7290664312 0.0053516610 0.0034475557 -0.0005790777 0.9999795692
+104 -0.1397692427 0.1646734914 -0.7182836396 -0.0004866503 -0.0036690997 -0.0030732212 0.9999884280
+116 -0.1693852458 1.6425375988 -1.7469099146 -0.0080066144 -0.0032180621 -0.0071400152 0.9999372772
+128 0.1899408687 2.2728831937 -1.7434808994 -0.0120840110 0.0048632251 -0.0076705281 0.9998857378
+140 1.0098067547 2.0821241475 -0.7995983286 -0.0130335552 0.0167037041 -0.0051448456 0.9997622934
+152 1.8205088872 1.3377056282 0.6463167813 -0.0114663238 0.0275929982 -0.0006758845 0.9995532467
+164 2.0920027698 0.0058660044 2.1684010122 -0.0065191410 0.0304137471 0.0052717994 0.9995022326
+176 1.6727407073 -1.1204264959 2.8131638916 -0.0004887432 0.0247511565 0.0071679637 0.9996678257
+188 0.8135585354 -1.2200832420 2.2422140053 0.0031499476 0.0131647878 0.0047945906 0.9998968837
+200 0.1796733190 -0.5269464973 0.7085126901 0.0021069755 0.0025926501 0.0013179505 0.9999935509
+212 -0.0227017206 0.9494813033 -0.9239048224 -0.0031871082 -0.0009107013 -0.0040375920 0.9999863553
+224 0.2113043141 2.4849993463 -2.2591138817 -0.0095950860 0.0018124649 -0.0102747351 0.9998995345
+236 0.6092412111 2.9837242227 -2.3993674985 -0.0127882651 0.0097454644 -0.0141595400 0.9997704705
+248 1.2226409426 2.7162253309 -1.5037629389 -0.0124016229 0.0205436132 -0.0120987486 0.9996388248
+260 1.9274834408 1.7306487764 0.0820634318 -0.0086007819 0.0296805885 -0.0046318895 0.9995116982
+272 2.2665569129 0.2764967910 1.3343251393 -0.0020202673 0.0340709720 -0.0013312668 0.9994164873
+284 2.2238038321 -0.9594361084 1.4691287209 0.0046517128 0.0295195873 0.0040805960 0.9995450486
+296 1.5902584211 -1.4199045745 1.0516756535 0.0082858075 0.0188430200 0.0064145421 0.9997675428
+305 0.9233958032 -1.0785768816 0.2795695292 0.0087557326 0.0096191627 0.0044185142 0.9999056383
+317 0.5084861450 0.0663203639 -1.1575615530 0.0053110019 0.0011823469 0.0007340463 0.9999849281
+329 0.5495108238 1.6003611135 -2.4509601867 -0.0012739817 0.0017126084 -0.0050351882 0.9999850453
+341 1.0403522437 2.9131030059 -3.1045352543 -0.0067588396 0.0088327449 -0.0094891668 0.9998931225
+353 1.7614420594 2.9348651092 -2.4575485222 -0.0089278591 0.0221842813 -0.0108815318 0.9996548121
+365 2.5639152114 1.8382404424 -0.9896680495 -0.0062545198 0.0328860089 -0.0055005932 0.9994244018
+377 2.7155628826 0.1993048621 0.4146275118 0.0011507717 0.0343576536 0.0002146580 0.9994089160
+389 2.0368169589 -0.8135509986 0.7090929910 0.0082566221 0.0279626205 0.0013962039 0.9995738945
+401 1.2847989437 -0.5380494076 -0.4354025443 0.0102354024 0.0149012342 -0.0006686899 0.9998363579
+413 0.8579302200 0.5512167585 -2.0687362493 0.0066483212 0.0043904857 -0.0020426137 0.9999661750
+425 0.8617054504 2.0383198706 -3.4195511346 -0.0001569291 0.0027347257 -0.0065007041 0.9999751184
+437 1.0058360900 3.3012309920 -3.9272011316 -0.0059991746 0.0101707086 -0.0121270926 0.9998567398
+449 1.7827280230 3.6023407616 -3.5989301080 -0.0094312176 0.0199329458 -0.0117217735 0.9996881163
+461 2.6727199474 3.4273537989 -2.6814851970 -0.0099802165 0.0308635212 -0.0088083710 0.9994349658
+473 2.9755165783 2.8397468055 -1.7106674806 -0.0068571885 0.0387922961 -0.0090708736 0.9991825939
+485 2.8809082685 1.7977217732 -0.9579672425 0.0005856594 0.0402669912 -0.0101036498 0.9991376996
+497 2.6360816368 0.7921549480 -0.8506256581 0.0086605811 0.0348092892 -0.0088409842 0.9993173393
+509 1.9871616372 0.7772861764 -2.0196927642 0.0114762634 0.0246857423 -0.0114109582 0.9995642548
+521 1.4005047528 2.0970642503 -4.1434384881 0.0077550492 0.0140162084 -0.0164607665 0.9997361893
+533 1.4355112310 3.7416235590 -5.3555147553 -0.0013196260 0.0105987952 -0.0189083231 0.9997641719
+545 2.0395823794 4.6674281479 -5.4223611405 -0.0085730818 0.0171595609 -0.0172991903 0.9996663392
+557 2.6412898609 4.7692118557 -4.5221121324 -0.0103205213 0.0314391400 -0.0168731029 0.9993099448
+569 3.3998810383 4.2447741863 -3.0737891983 -0.0087803616 0.0417027068 -0.0169304049 0.9989480221
+581 3.4515755714 3.1792024899 -1.8331707792 -0.0021911470 0.0465684273 -0.0173579417 0.9987618747
+593 3.1152996714 2.1190240974 -1.2588213203 0.0052753887 0.0446751330 -0.0160588823 0.9988585561
diff --git a/iMED_pe/test/session_004_scene_2_left_right/K.txt b/iMED_pe/test/session_004_scene_2_left_right/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f140f2d82c21048b19ad046665e0a7812e87d59f
--- /dev/null
+++ b/iMED_pe/test/session_004_scene_2_left_right/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1033.3860978293 0.0000000000 615.3035648109
+0.0000000000 1032.5533163688 505.2699727155
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1036.2458860814 0.0000000000 704.0320236146
+0.0000000000 1034.4468447603 505.9145908601
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1039.5010572364 0.0000000000 565.5091746366
+0.0000000000 1040.0475664751 532.1105243640
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1044.2533169984 0.0000000000 657.6717564931
+0.0000000000 1040.2221528764 531.9170728122
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_004_scene_2_left_right/pose.txt b/iMED_pe/test/session_004_scene_2_left_right/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f5fe300ef151308f7d7018858a7f2f226fc2cfb
--- /dev/null
+++ b/iMED_pe/test/session_004_scene_2_left_right/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000000000
+20 0.2120255856 0.1693787519 0.5403389011 -0.0007071311 0.0056856503 -0.0003889061 0.9999835109
+32 -0.4406257265 0.2951548604 -0.2519926692 0.0001469662 -0.0009639809 -0.0018287173 0.9999978525
+44 -1.4743966973 0.5426063779 -1.6149271834 0.0023166819 -0.0160541171 -0.0044401230 0.9998585818
+56 -2.6369473648 0.6769569383 -2.8561450167 0.0040541522 -0.0306372757 -0.0091284783 0.9994806612
+68 -3.6500810047 0.8602619754 -3.5586530980 0.0059190801 -0.0419398185 -0.0123738931 0.9990259771
+80 -3.6868921922 0.9247288953 -3.7493557169 0.0061998250 -0.0454346727 -0.0124541473 0.9988704355
+92 -2.9067581188 0.7724413372 -3.0995989598 0.0049436714 -0.0363203922 -0.0097166811 0.9992807290
+104 -1.7144001153 0.4969358604 -1.9723539932 0.0032283074 -0.0219323419 -0.0056923672 0.9997380394
+116 -0.7129897053 0.2416320427 -1.2305379568 0.0016082551 -0.0089751192 -0.0025728004 0.9999551197
+128 -0.5792852870 0.2915708434 -1.3085071248 0.0018201208 -0.0072915289 -0.0005707612 0.9999715971
+140 -1.3374844700 0.5502715989 -2.3870000813 0.0035198132 -0.0170764503 -0.0033269602 0.9998424561
+152 -2.3812204042 0.7981847034 -3.5061875836 0.0056336710 -0.0299823507 -0.0078178580 0.9995039777
+164 -3.0843522410 0.9572714705 -4.2359630686 0.0071486250 -0.0396083429 -0.0114101482 0.9991245592
+176 -3.0825621106 1.0330737075 -4.4342149996 0.0073803601 -0.0417677435 -0.0108164171 0.9990415362
+188 -2.5765555111 0.9603054826 -3.6846991612 0.0067804918 -0.0341799161 -0.0085588338 0.9993560450
+200 -1.6449954740 0.8449961915 -2.5360984271 0.0055475450 -0.0214831832 -0.0070358883 0.9997290602
+212 -0.6648603561 0.8104924726 -1.6364623930 0.0038587727 -0.0096482223 -0.0045271082 0.9999357614
+224 -0.3228956976 0.8140464349 -1.2213322317 0.0028826753 -0.0039850625 -0.0033209092 0.9999823904
+236 -0.8174649790 0.8807703191 -1.8297008665 0.0035376955 -0.0088432649 -0.0049496732 0.9999423894
+248 -1.6582701249 1.0056226758 -3.2606269836 0.0059661303 -0.0221643112 -0.0087717465 0.9996980569
+260 -2.5308729723 1.1831959689 -4.5309115006 0.0080907804 -0.0343416260 -0.0113807252 0.9993125993
+272 -2.9675076742 1.3455637215 -5.3523821899 0.0089784315 -0.0419987395 -0.0137131768 0.9989832043
+284 -3.0012786705 1.5344385818 -5.5009444156 0.0092316040 -0.0434394033 -0.0137019050 0.9989194430
+296 -2.6775822997 1.4943188042 -5.1679731049 0.0082742717 -0.0377253719 -0.0136231670 0.9991610191
+305 -2.0650906848 1.4474825453 -4.6266523908 0.0070584290 -0.0308163913 -0.0114101535 0.9994350089
+317 -1.3478331081 1.4071367359 -3.7705469699 0.0059215134 -0.0209610335 -0.0081855384 0.9997292472
+329 -0.8013778742 1.3348730021 -2.9517355022 0.0055817289 -0.0118341340 -0.0084610766 0.9998785965
+341 -0.6031800102 1.3221061661 -2.9048071798 0.0052753706 -0.0080197931 -0.0086665915 0.9999163683
+353 -1.0901870000 1.4793236904 -3.7358012894 0.0062468578 -0.0173846984 -0.0094901799 0.9997843195
+365 -2.2107785836 1.8635463114 -5.3689120367 0.0091857885 -0.0356852690 -0.0135898625 0.9992284516
+377 -3.4436130937 1.9731428439 -6.6668503382 0.0109624312 -0.0517938803 -0.0180282687 0.9984348755
+389 -3.9204219410 1.8855239617 -7.1699161709 0.0118930027 -0.0569756387 -0.0193450437 0.9981172789
+401 -3.1911368608 1.7840717909 -6.8155797967 0.0115398488 -0.0501679889 -0.0158147194 0.9985488969
+413 -2.0267820315 1.7083793035 -5.7456714124 0.0099008684 -0.0354821647 -0.0113639917 0.9992566480
+425 -0.8802441049 1.7295313479 -4.6286349613 0.0077642884 -0.0192044826 -0.0085589581 0.9997487924
+437 -0.0974559162 1.7112457798 -4.0175897362 0.0059402320 -0.0084616066 -0.0075955634 0.9999177078
+449 -0.3553002670 1.7613908316 -4.3418430484 0.0059735778 -0.0102384673 -0.0083628574 0.9998947708
+461 -1.2592535347 1.9439881509 -5.1463583009 0.0079991709 -0.0229070354 -0.0103047317 0.9996524864
+473 -2.3023688415 1.9916661771 -5.9635886066 0.0100459580 -0.0342609714 -0.0159905241 0.9992344908
+485 -2.9641239067 2.0987368111 -6.6228387039 0.0114688222 -0.0428618381 -0.0179244557 0.9988543652
+497 -2.9328663208 2.1900517675 -6.7776352846 0.0120521098 -0.0456395353 -0.0174650811 0.9987325720
+509 -2.3746985053 2.0310370050 -6.2839940051 0.0111023643 -0.0383057879 -0.0169458090 0.9990606807
+521 -1.4805979212 1.8439837747 -5.5924344109 0.0093487867 -0.0282695986 -0.0114717027 0.9994907854
+533 -0.6818681567 1.6122999998 -4.9530066925 0.0080199422 -0.0196113618 -0.0086608264 0.9997379982
+545 -0.1125567679 1.5765676708 -4.3178295196 0.0071174711 -0.0117156555 -0.0062641462 0.9998864163
+557 0.1311064879 1.6310003897 -3.9409709563 0.0064838436 -0.0081116233 -0.0043664117 0.9999365459
+569 -0.3554549442 1.6805788238 -4.5528480148 0.0066714291 -0.0128899513 -0.0068718879 0.9998710509
+581 -1.2950604018 1.8404393357 -5.6080855105 0.0083393666 -0.0241885979 -0.0111101346 0.9996108901
+593 -2.1526402038 2.0344679398 -6.4593207159 0.0100562991 -0.0365452978 -0.0142768159 0.9991794056
diff --git a/iMED_pe/test/session_004_scene_2_zoom_in/K.txt b/iMED_pe/test/session_004_scene_2_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f140f2d82c21048b19ad046665e0a7812e87d59f
--- /dev/null
+++ b/iMED_pe/test/session_004_scene_2_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1033.3860978293 0.0000000000 615.3035648109
+0.0000000000 1032.5533163688 505.2699727155
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1036.2458860814 0.0000000000 704.0320236146
+0.0000000000 1034.4468447603 505.9145908601
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1039.5010572364 0.0000000000 565.5091746366
+0.0000000000 1040.0475664751 532.1105243640
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1044.2533169984 0.0000000000 657.6717564931
+0.0000000000 1040.2221528764 531.9170728122
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_004_scene_2_zoom_in/pose.txt b/iMED_pe/test/session_004_scene_2_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d2dc0d3fd610244faf82ba9194a5f1dd3c821bda
--- /dev/null
+++ b/iMED_pe/test/session_004_scene_2_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 0.0000000000 1.0000000000
+20 1.1399377484 1.5827261562 -3.7955857198 0.0042483510 0.0006725786 -0.0016652931 0.9999893629
+32 1.7330429214 2.4260700711 -5.7877848327 0.0065931324 0.0003148911 -0.0012544526 0.9999774286
+44 1.2433107465 1.8584644856 -4.3894557564 0.0066379574 0.0002010387 0.0011742010 0.9999772589
+56 0.2899087044 0.1284835003 -0.5314227958 0.0030194435 -0.0011213583 0.0028938362 0.9999906256
+68 -0.9520198679 -1.6614927980 3.5304007346 -0.0015203505 -0.0021280095 0.0044322413 0.9999867576
+80 -1.9670297529 -3.2634013733 6.7921559496 -0.0045022420 -0.0043948668 0.0062251054 0.9999608307
+92 -2.3406312709 -4.0637783750 8.0233274355 -0.0057447432 -0.0053909442 0.0061925670 0.9999497926
+104 -1.8366962819 -3.4116126395 6.2922163899 -0.0033407394 -0.0047047021 0.0055217488 0.9999681073
+116 -0.8806760124 -1.8734589209 2.8888355021 0.0016981831 -0.0024342458 0.0025623411 0.9999923125
+128 0.2784281334 -0.2756578510 -0.8326090708 0.0053325418 -0.0013853413 0.0009979005 0.9999843244
+140 1.4405776613 1.3419615638 -4.5023041875 0.0094679009 -0.0008656219 -0.0008181555 0.9999544691
+152 2.0898934381 2.2554074556 -6.9489504740 0.0127209541 0.0002385302 -0.0025730217 0.9999157464
+164 2.0922207773 1.9990079767 -6.6474391120 0.0129884125 -0.0011923431 0.0008855334 0.9999145440
+176 1.1963311856 0.5464820665 -3.4838211983 0.0100323056 -0.0034957068 0.0067235630 0.9999209602
+188 0.0033269861 -1.2019067320 0.5146102378 0.0055521765 -0.0049626442 0.0093316687 0.9999287302
+200 -1.0056167113 -2.7812240973 3.9816378085 0.0008972355 -0.0062066968 0.0118571946 0.9999100354
+212 -1.9145424037 -4.3546166210 7.2381920579 -0.0031183583 -0.0065893853 0.0141919879 0.9998727136
+224 -2.4892159591 -5.4782356810 9.5912109758 -0.0051553214 -0.0063554776 0.0148412817 0.9998563731
+236 -2.4432942482 -5.4992694287 9.6694785030 -0.0056410596 -0.0060075036 0.0145881798 0.9998596268
+248 -1.6511100043 -4.1359792306 7.0162563072 -0.0040638725 -0.0054104870 0.0146173436 0.9998702640
+260 -0.5419348203 -2.3689880859 3.0057981147 -0.0011165570 -0.0033882520 0.0123726848 0.9999170914
+272 0.7214151430 -0.7337891479 -0.6742016436 0.0023146485 -0.0035229556 0.0126046038 0.9999116737
+284 1.7184787831 0.6269838116 -4.0902695921 0.0048073205 -0.0026446295 0.0121129710 0.9999115819
+296 2.3006260171 1.3289758173 -6.1410335237 0.0066686693 -0.0021556991 0.0113811754 0.9999106713
+305 2.1995598834 1.1334468766 -5.5489658479 0.0064221350 -0.0033943775 0.0133779056 0.9998841263
+317 1.0563628881 -0.3099652343 -1.9690841413 0.0030316665 -0.0038803414 0.0141112798 0.9998883056
+329 -0.1771332720 -2.0755987466 2.3620609578 -0.0007891713 -0.0054888553 0.0156665805 0.9998618944
+341 -1.2804282336 -3.7226102160 6.0557613307 -0.0044393598 -0.0066611920 0.0171836143 0.9998203059
+353 -2.3425368923 -5.3782097538 9.2943594089 -0.0072944871 -0.0063970533 0.0179448992 0.9997919027
+365 -3.2200607913 -6.9488308603 12.3494171301 -0.0094684100 -0.0070263741 0.0187192112 0.9997552553
+377 -3.5637669710 -7.6109059584 13.6388107793 -0.0107645777 -0.0076442450 0.0203460881 0.9997058198
+389 -2.8687140413 -6.3072520406 11.5095710445 -0.0094108981 -0.0074953269 0.0212469706 0.9997018662
+401 -1.6539473340 -4.2748300037 7.1719262147 -0.0064243556 -0.0056748319 0.0185586006 0.9997910293
+413 -0.5272345182 -2.4873177593 3.0095341469 -0.0024776015 -0.0041450441 0.0178127902 0.9998296778
+425 0.6374810434 -0.9985754960 -0.8217422479 0.0010771357 -0.0042109795 0.0158885506 0.9998643215
+437 1.2307113279 -0.0315931414 -3.0245939416 0.0043845309 -0.0049962930 0.0151844197 0.9998626137
+449 0.9168662941 -0.6970482635 -1.4441273488 0.0037347555 -0.0067248234 0.0173626211 0.9998196676
+461 -0.1102332263 -2.3411633678 2.0451767106 -0.0000346835 -0.0071582275 0.0199726221 0.9997749011
+473 -1.1190563104 -3.8498135702 5.6236837553 -0.0036445906 -0.0076480982 0.0232414791 0.9996939818
+485 -1.9199856352 -5.3896773507 8.7621274803 -0.0069144735 -0.0078936877 0.0241040881 0.9996543766
+497 -2.7388754533 -6.9269529241 11.6202735099 -0.0090862180 -0.0073012756 0.0242066375 0.9996390202
+509 -3.3216895841 -8.0347986124 14.0625605737 -0.0101776549 -0.0079993118 0.0276128029 0.9995348716
+521 -3.1973123435 -7.9558487544 13.9195401670 -0.0108637161 -0.0088001290 0.0282533198 0.9995030202
+533 -2.5463552053 -6.4835715278 10.7646121672 -0.0090256122 -0.0087683496 0.0256485329 0.9995918203
+545 -1.6513342356 -4.7217353700 6.6725493349 -0.0053677839 -0.0088322296 0.0238276760 0.9996626533
+557 -0.6936138159 -3.2313299275 3.1911648865 -0.0009674594 -0.0090973906 0.0220752051 0.9997144526
+569 0.3209685934 -2.0664900511 -0.0797092946 0.0034021683 -0.0085023241 0.0199169006 0.9997596975
+581 1.1543329094 -1.0786299035 -2.2734358742 0.0077845100 -0.0080862215 0.0209389772 0.9997177470
+593 1.3121778265 -0.9893161135 -2.6250431965 0.0089442277 -0.0067921651 0.0213295369 0.9997094168
diff --git a/iMED_pe/test/session_004_scene_6_circular/K.txt b/iMED_pe/test/session_004_scene_6_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f140f2d82c21048b19ad046665e0a7812e87d59f
--- /dev/null
+++ b/iMED_pe/test/session_004_scene_6_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1033.3860978293 0.0000000000 615.3035648109
+0.0000000000 1032.5533163688 505.2699727155
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1036.2458860814 0.0000000000 704.0320236146
+0.0000000000 1034.4468447603 505.9145908601
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1039.5010572364 0.0000000000 565.5091746366
+0.0000000000 1040.0475664751 532.1105243640
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1044.2533169984 0.0000000000 657.6717564931
+0.0000000000 1040.2221528764 531.9170728122
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_004_scene_6_circular/pose.txt b/iMED_pe/test/session_004_scene_6_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..529789cb78bc9ee30135eabb58530e58163dd2ce
--- /dev/null
+++ b/iMED_pe/test/session_004_scene_6_circular/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 -0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000000000
+20 0.0198456437 1.6908319530 -0.2822081318 -0.0074339994 0.0013804631 -0.0038465802 0.9999640163
+32 0.4388858777 3.0037441926 0.5624018629 -0.0122939364 0.0082411132 -0.0072972169 0.9998638376
+44 2.9055904947 3.0755426633 1.7715958687 -0.0164735538 0.0074575883 -0.0002000442 0.9998364698
+56 4.5478795609 2.2725449436 2.3326873977 -0.0171993880 0.0159137519 0.0043428050 0.9997159965
+68 5.2931762006 0.5598545677 2.7027564064 -0.0133463327 0.0202393629 0.0094822509 0.9996611078
+80 4.7281312474 -0.9972605392 2.8253681311 -0.0035880329 0.0189922436 0.0118393740 0.9997430920
+92 3.5184425931 -1.7904058994 3.0739705635 0.0074319258 0.0137319654 0.0082533104 0.9998440291
+104 1.9476575430 -2.5061559058 2.5457476557 0.0036798544 0.0076676412 0.0055980027 0.9999481628
+116 0.4350794122 -1.6346424845 1.3352522619 0.0021585286 -0.0004175790 -0.0003685798 0.9999975153
+128 -0.6796634714 0.6741404908 0.2994048094 0.0067886577 -0.0002624586 -0.0016559728 0.9999755512
+140 -0.3283748241 2.0840000268 -0.1875375508 -0.0026690055 -0.0016578338 -0.0062420950 0.9999755818
+152 0.2680209194 3.7181636381 -0.2275614484 -0.0104237625 0.0021360662 -0.0091787409 0.9999012617
+164 1.3979720021 4.5526650006 0.4956443798 -0.0191913097 0.0091314889 -0.0093440330 0.9997304630
+176 3.7557258487 4.7002606692 1.5451576653 -0.0192000091 0.0150074018 -0.0072431151 0.9996767852
+188 5.4656847957 3.7672875329 2.1042852212 -0.0162227546 0.0254245810 -0.0033188975 0.9995395929
+200 5.8959279360 2.0169636725 2.2914735545 -0.0079071292 0.0289838905 -0.0007397916 0.9995483300
+212 5.1833519082 -0.3161744655 2.0149170703 -0.0025140485 0.0256118942 0.0020947540 0.9996666056
+224 3.4327633849 -1.2386661750 1.4949855732 0.0052074202 0.0190467441 0.0019599577 0.9998031121
+236 1.1328334592 -0.8993008451 0.3024172740 0.0077852533 0.0117950788 -0.0024691955 0.9998970792
+248 -0.1361500069 0.7571293038 -0.7480462649 0.0059162587 0.0031452233 -0.0024627630 0.9999745198
+260 0.4750734072 2.4723453451 -1.0849067148 -0.0028052781 -0.0056384888 -0.0001854162 0.9999801515
+272 1.3485592269 3.7886391640 -1.0724229094 -0.0135347667 -0.0033072536 0.0029472026 0.9998985879
+284 2.0110380870 4.8678688400 -0.3420184780 -0.0175975656 0.0023395810 0.0021209305 0.9998401641
+296 3.2265308740 5.2232469006 0.6539583933 -0.0148152393 0.0070719834 -0.0023698304 0.9998624304
+305 4.1790438560 4.7247142781 1.2975134791 -0.0122597024 0.0120526160 -0.0038213037 0.9998449039
+317 4.6083852228 3.2605570197 1.5231778642 -0.0107877703 0.0227560790 -0.0057417451 0.9996663530
+329 4.6467914844 1.7019467917 1.8520354219 0.0010861669 0.0238960726 -0.0056835519 0.9996977019
+341 3.8044669905 -1.0565429940 1.4712247219 0.0073606433 0.0224579875 -0.0084725360 0.9996847883
+353 2.4716939273 -2.9872288923 0.3105947078 0.0081512206 0.0191237348 -0.0092932795 0.9997407040
+365 1.4312886261 -2.8847478521 -0.7903446523 0.0095515395 0.0104197233 -0.0014636001 0.9998990226
+377 0.7270842576 -1.4368095240 -2.0842192620 0.0047685085 0.0028576822 0.0025926693 0.9999811863
+389 0.8070446620 1.3988345369 -2.6665510420 -0.0004570157 -0.0040975341 0.0121132341 0.9999181321
+401 1.7483147499 3.3723857071 -2.4455044403 -0.0105108983 -0.0097056607 0.0202558082 0.9996924644
+413 1.8361201095 4.8496809817 -1.6332899090 -0.0217580913 -0.0002845267 0.0123260106 0.9996872381
+425 2.5520082134 5.7454871470 0.2877063119 -0.0218525820 0.0112061007 0.0003903063 0.9996983223
+437 4.4248739457 4.9004259789 1.4036719654 -0.0202319684 0.0194984763 -0.0013968922 0.9996041844
+449 5.3631963076 2.7004042512 1.8539269512 -0.0141687848 0.0227987241 0.0047151752 0.9996285464
+461 4.9709241666 -0.0893832595 1.9431820346 -0.0061668281 0.0189252109 0.0130934896 0.9997161433
+473 3.7556901181 -2.1781034872 1.1124343615 -0.0026083349 0.0143784364 0.0149652048 0.9997812260
+485 2.6770459393 -2.3190334057 -0.0910906516 -0.0011147433 0.0063465960 0.0189615486 0.9997994488
+497 1.8306164623 -1.8300194484 -1.1233457317 -0.0081816996 -0.0045872876 0.0253590635 0.9996344004
+509 1.0807124474 0.0602708947 -1.9813934767 -0.0111229120 -0.0102806996 0.0273370107 0.9995115186
+521 0.8647355135 1.9339809726 -2.0784801357 -0.0191589671 -0.0116968893 0.0252219033 0.9994298236
+533 0.6093783342 3.8784802042 -1.1681740438 -0.0254771344 -0.0071135536 0.0176420838 0.9994944071
+545 0.6906212964 5.6513815781 0.5550289757 -0.0305774805 0.0014018021 0.0056014172 0.9995157211
+557 3.0810968663 6.0429344331 2.3012560409 -0.0329128203 0.0060956913 0.0061697497 0.9994205936
+569 5.5128344773 5.7619775842 2.7359103901 -0.0289826213 0.0165938533 0.0091454230 0.9994003267
+581 6.3680997760 3.8312918287 2.4912745541 -0.0252717466 0.0244471898 0.0109817641 0.9993213070
+593 5.9205252140 1.5265218082 1.7796816984 -0.0176964759 0.0237695253 0.0135641975 0.9994687874
diff --git a/iMED_pe/test/session_004_scene_6_left_right/K.txt b/iMED_pe/test/session_004_scene_6_left_right/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f140f2d82c21048b19ad046665e0a7812e87d59f
--- /dev/null
+++ b/iMED_pe/test/session_004_scene_6_left_right/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1033.3860978293 0.0000000000 615.3035648109
+0.0000000000 1032.5533163688 505.2699727155
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1036.2458860814 0.0000000000 704.0320236146
+0.0000000000 1034.4468447603 505.9145908601
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1039.5010572364 0.0000000000 565.5091746366
+0.0000000000 1040.0475664751 532.1105243640
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1044.2533169984 0.0000000000 657.6717564931
+0.0000000000 1040.2221528764 531.9170728122
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_004_scene_6_left_right/pose.txt b/iMED_pe/test/session_004_scene_6_left_right/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dba8f33eabfbefec07d215903a50860760cff2b9
--- /dev/null
+++ b/iMED_pe/test/session_004_scene_6_left_right/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 -0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 -0.0000000000 1.0000000000
+20 0.2132466460 -0.4458155210 -0.0358233722 -0.0037454181 0.0014240530 0.0001437165 0.9999919616
+32 1.7739820126 -0.3307583057 0.3909290700 -0.0024395969 0.0095663537 0.0009040751 0.9999508567
+44 3.5985326124 -0.0675343108 0.9934382967 0.0008381457 0.0195372306 0.0023652706 0.9998059810
+56 4.7941499353 0.1050500814 1.2917208171 0.0027495962 0.0231850722 0.0040172087 0.9997193377
+68 4.3327578990 0.2859274971 1.0487934562 0.0040925671 0.0205367426 0.0045873145 0.9997701984
+80 2.2445735691 -0.4781247521 0.2966618736 -0.0043386703 0.0130855385 0.0035045002 0.9998988264
+92 0.3357128919 -0.2956999831 -0.3143217466 -0.0037725591 0.0041506267 0.0014336273 0.9999832423
+104 -0.2703584721 0.0830367012 -0.3257041757 0.0000965140 0.0016582885 0.0007690170 0.9999983247
+116 0.8675274227 0.2147993847 0.2415654305 0.0026050237 0.0072309666 0.0021628115 0.9999681241
+128 2.5753063508 -0.2719244842 0.8358770859 0.0000228456 0.0167421180 0.0035590726 0.9998535063
+140 4.0777130166 -0.4687241430 1.3298883735 -0.0006224381 0.0203726133 0.0040495273 0.9997840619
+152 3.5124925817 -0.7697559290 0.5606878640 -0.0042597948 0.0220398903 0.0027590329 0.9997442098
+164 1.7250661632 -0.5571140741 -0.2027524096 -0.0050796004 0.0125462988 0.0019150487 0.9999065560
+176 0.0723691190 -0.0338446350 -0.6402615567 -0.0023018534 0.0014913170 0.0032252409 0.9999910376
+188 0.2167409123 -0.5321358431 -0.5224515342 -0.0061640713 -0.0021175741 0.0041512928 0.9999701430
+200 1.0517330505 -0.5232314887 -0.1961389527 -0.0047896784 0.0022374632 0.0039206168 0.9999783405
+212 2.6048648343 -0.1308305105 0.4607159521 0.0000486380 0.0129079912 0.0045662451 0.9999062610
+224 3.9822966566 -0.7169313218 0.8509758625 -0.0048299508 0.0190119995 0.0064849746 0.9997865575
+236 3.4993573593 -0.8661215146 0.3508093388 -0.0060400632 0.0193077462 0.0051144276 0.9997822619
+248 1.9905267081 -0.8270722300 0.1063584634 -0.0050399497 0.0084972117 0.0034477631 0.9999452531
+260 0.2962213515 -0.4407788118 0.0971835484 -0.0008190396 -0.0003197007 0.0022260903 0.9999971357
+272 -0.4679612110 -0.1957926802 -0.0237669895 0.0012296776 -0.0012753113 0.0024085428 0.9999955302
+284 0.2574528296 -0.5232248274 0.1000330283 -0.0009233300 0.0042810240 0.0022507853 0.9999878771
+296 2.1662729086 -0.3302040431 0.5532478351 0.0011810875 0.0095349085 0.0037151298 0.9999469428
+305 3.1918242754 -0.0507248616 0.6311328009 0.0027881300 0.0140913569 0.0035453782 0.9998905392
+317 2.8652466575 -0.7142224290 0.3968016027 -0.0045291733 0.0193932586 0.0035908510 0.9997952260
+329 1.7058358472 -0.9826663198 -0.0000466662 -0.0076224279 0.0136764797 0.0027979948 0.9998735039
+341 -0.0129771234 -0.2792750038 -0.7658208725 -0.0018265845 0.0012749409 0.0010968385 0.9999969175
+353 -0.9629445315 -0.5640574360 -0.9961300766 -0.0042864067 -0.0058942637 0.0004044047 0.9999733601
+365 -0.5824605949 0.2136147779 -0.8600645958 0.0032508031 -0.0035841928 0.0014287044 0.9999872722
+377 1.0161190182 0.6502296710 -0.5199260639 0.0078431602 0.0047916230 0.0043839317 0.9999481518
+389 2.9284414056 -1.3571203932 -0.1028643694 -0.0079088060 0.0143533783 0.0051079436 0.9998526593
+401 3.3955637194 -0.8370520127 -0.1490974229 -0.0031583209 0.0190226996 0.0053158022 0.9997999321
+413 2.3332041217 -0.0051662844 -0.5991036155 0.0026039113 0.0162511967 0.0064158645 0.9998439653
+425 0.6706184482 -0.2377970343 -0.8037353264 0.0008684133 0.0068894193 0.0045946267 0.9999653350
+437 -0.7046425549 0.2243803063 -0.9656778958 0.0058862410 -0.0022868091 0.0009538712 0.9999796062
+449 -1.0747440083 0.4853265915 -1.2038518724 0.0083794120 -0.0040111466 -0.0013685522 0.9999559106
+461 0.0356544884 -0.2608430156 -1.0042976988 0.0013219121 0.0021616789 0.0003346817 0.9999967338
+473 1.9007154890 0.1900255660 -0.5666347727 0.0048871166 0.0091712824 0.0026227621 0.9999425607
+485 3.6457432010 0.4113540930 -0.4886275235 0.0069549509 0.0119112020 0.0022408756 0.9999023604
+497 2.6396297630 -0.6181063561 -1.0125637757 -0.0030691672 0.0205470739 0.0027472853 0.9997804011
+509 0.3395921812 -1.5989023994 -1.5287951979 -0.0135702225 0.0227258387 0.0047224574 0.9996384765
+521 0.0175103186 0.2045387751 -2.4608665689 0.0012283513 0.0019542711 0.0004899256 0.9999972160
+533 -0.4595767397 -0.3740123786 -2.4944864816 -0.0032099145 0.0003390069 0.0008919720 0.9999943929
+545 0.7242473437 -1.3569558989 -2.0088771826 -0.0097738619 0.0079800435 -0.0001748767 0.9999203768
+557 3.1067049169 0.0333463326 -1.3192395113 0.0033855167 0.0154603416 0.0006085773 0.9998745650
+569 4.0266281934 0.1254310538 -0.9940483580 0.0044302633 0.0207525865 0.0036511340 0.9997681592
+581 3.4759643318 -0.4903718660 -1.4810867850 -0.0016419127 0.0164340461 0.0016835297 0.9998621865
+593 2.3501198542 -1.0424786694 -1.8816809614 -0.0074167060 0.0054285890 -0.0007570255 0.9999574740
diff --git a/iMED_pe/test/session_004_scene_6_zoom_in/K.txt b/iMED_pe/test/session_004_scene_6_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f140f2d82c21048b19ad046665e0a7812e87d59f
--- /dev/null
+++ b/iMED_pe/test/session_004_scene_6_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1033.3860978293 0.0000000000 615.3035648109
+0.0000000000 1032.5533163688 505.2699727155
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1036.2458860814 0.0000000000 704.0320236146
+0.0000000000 1034.4468447603 505.9145908601
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1039.5010572364 0.0000000000 565.5091746366
+0.0000000000 1040.0475664751 532.1105243640
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1044.2533169984 0.0000000000 657.6717564931
+0.0000000000 1040.2221528764 531.9170728122
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_004_scene_6_zoom_in/pose.txt b/iMED_pe/test/session_004_scene_6_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a2b8777d33211d2d29bac0bc7a23a36fb65c3aa6
--- /dev/null
+++ b/iMED_pe/test/session_004_scene_6_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000000000
+20 0.8725671216 1.0869838578 -2.7041897567 0.0016274295 -0.0017202943 -0.0000794146 0.9999971929
+32 1.1540415491 1.5780384985 -5.2105043688 0.0007468076 0.0001538688 -0.0013670381 0.9999987749
+44 1.1253326327 0.5064241418 -4.9783354411 -0.0069319068 -0.0003296947 -0.0017191430 0.9999744419
+56 0.6991032313 0.4768939700 -2.7638756817 -0.0018280474 -0.0009351101 -0.0013836569 0.9999969346
+68 0.2678949864 0.0822106732 -0.7942958704 -0.0004953050 -0.0010748988 -0.0024883378 0.9999962037
+80 0.1231588508 -0.1539664589 -0.2056988434 -0.0022349237 -0.0014967437 -0.0023472311 0.9999936277
+92 0.1795644004 0.6204112708 -1.4842052936 0.0001629442 0.0009538202 -0.0015670363 0.9999983040
+104 0.6400709231 1.1289827538 -3.5773270169 -0.0022197597 0.0015085638 -0.0002675971 0.9999963626
+116 1.0009386697 1.6735295721 -5.3616119747 -0.0014390900 0.0016183061 -0.0012041797 0.9999969300
+128 0.9278789307 1.6921156874 -4.9103339858 0.0015074016 0.0013037016 -0.0024473870 0.9999950192
+140 0.5264425649 0.9812339999 -2.4105926574 0.0012977182 0.0009733022 -0.0007939561 0.9999983691
+152 0.1671892682 -0.1251393185 -0.1132215690 -0.0018312273 0.0013400574 -0.0000626343 0.9999974235
+164 0.1466683684 -0.9506079726 0.6668384882 -0.0069462791 0.0007646160 -0.0010121334 0.9999750698
+176 0.3540282450 -0.3390929857 -0.4366005582 -0.0049040356 0.0018048052 -0.0006153195 0.9999861572
+188 0.9751773850 0.1079839292 -2.4708721055 -0.0064877500 0.0012859056 -0.0006312735 0.9999779283
+200 1.2710034875 0.7843102461 -4.2106989816 -0.0043692471 0.0014742660 -0.0022150139 0.9999869149
+212 1.4929838227 0.9494077678 -4.1167806085 -0.0011731381 -0.0011276368 -0.0031068481 0.9999938498
+224 1.4123237990 0.3701062487 -2.1406784424 -0.0006792023 -0.0043409450 -0.0024630782 0.9999873140
+236 0.3358168130 -0.5912728212 -0.2555778783 -0.0039502211 0.0007771098 -0.0013312718 0.9999910097
+248 0.1383664503 -1.3453434294 0.8567287549 -0.0087813965 0.0002175140 -0.0015396040 0.9999602339
+260 0.1854721271 -0.4236990032 0.3686189869 -0.0038548584 0.0007795821 -0.0011013295 0.9999916597
+272 0.5210460191 0.2817751253 -1.6743183243 -0.0035961529 0.0020884251 -0.0028385526 0.9999873243
+284 0.8355579123 0.5650389864 -4.0509565750 -0.0074383749 0.0026753043 -0.0024645559 0.9999657191
+296 1.0859908896 0.9462785510 -5.5098285284 -0.0063664620 0.0017506604 -0.0039361417 0.9999704546
+305 1.1931650083 0.8128959986 -4.9984938700 -0.0052156195 -0.0000647854 -0.0046548980 0.9999755622
+317 0.9469460393 0.2917277514 -2.8876330009 -0.0046354499 -0.0011474355 -0.0030035410 0.9999840872
+329 0.4237812553 -0.7855101340 -0.1946072068 -0.0069614368 -0.0008951953 -0.0028911249 0.9999711888
+341 0.1215696700 -0.9954509287 0.8003640928 -0.0059999845 -0.0003266370 -0.0030328417 0.9999773474
+353 0.1384171198 -0.1552822436 0.0496229332 -0.0013839351 0.0010749602 -0.0016734876 0.9999970643
+365 1.5827573131 0.5945976264 -2.1007085749 -0.0008509722 -0.0065402046 -0.0020554073 0.9999761382
+377 1.7150561654 1.1497064425 -4.1163987828 -0.0011768572 -0.0050002309 -0.0019015586 0.9999849983
+389 1.2383339821 0.7380059961 -5.2992246843 -0.0065983594 -0.0006282558 -0.0007170777 0.9999777761
+401 1.0382291048 0.0342794341 -4.0869643197 -0.0083741739 -0.0008791136 -0.0012107530 0.9999638166
+413 0.3846148450 0.3729443412 -1.7083982662 -0.0001852137 0.0014438276 -0.0009887190 0.9999984517
+425 0.1283913134 -0.8219050135 0.3814495199 -0.0058325276 0.0002461420 -0.0014633063 0.9999818897
+437 -0.0914269602 -0.9141055245 0.9755887410 -0.0064150863 0.0003696887 -0.0006341932 0.9999791537
+449 0.1360855837 -0.4255843586 -0.3328797978 -0.0055573287 0.0015311105 -0.0015875687 0.9999821256
+461 0.5096473753 0.3488905419 -2.2609380008 -0.0038139295 0.0025992428 -0.0023409715 0.9999866088
+473 0.9503241516 1.2559418902 -4.3494556554 -0.0018061114 0.0020512391 -0.0029583572 0.9999918892
+485 1.2536513065 1.3288832760 -5.3203636787 -0.0032693284 0.0001746899 -0.0027653428 0.9999908169
+497 1.0658945102 -0.0915042076 -3.8879518936 -0.0106901698 -0.0001695568 -0.0025917049 0.9999394855
+509 0.4140627138 0.1273488703 -1.5638059923 -0.0025878324 0.0028817196 -0.0025173742 0.9999893308
+521 0.1439130058 -0.2470792176 0.0193238379 -0.0016485052 0.0030305316 -0.0023173205 0.9999913641
+533 0.3464306051 -0.1238010271 0.1456765416 -0.0002763505 0.0013535091 -0.0029832470 0.9999945959
+545 0.9796834511 0.1376896105 -1.4857130681 -0.0030376027 -0.0003769473 -0.0031035599 0.9999904994
+557 1.0914095901 0.6932763522 -4.0509515598 -0.0047817560 0.0028229173 -0.0026203643 0.9999811496
+569 0.6548188486 0.2129698493 -5.8161959459 -0.0127872075 0.0081706852 -0.0018639690 0.9998831196
+581 0.5913615531 0.4642419070 -5.7413927227 -0.0088240142 0.0088012183 -0.0024441761 0.9999193474
+593 1.0401643485 1.1309895213 -4.0301777937 0.0020431667 0.0024489444 -0.0016214219 0.9999935995
diff --git a/iMED_pe/test/session_005_scene_7_circular/K.txt b/iMED_pe/test/session_005_scene_7_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..154d2eff53e104122a4ea76b0415fd1e59e4d75a
--- /dev/null
+++ b/iMED_pe/test/session_005_scene_7_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1026.1978250267 0.0000000000 634.6705886215
+0.0000000000 1023.3819639524 489.8573355231
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1025.6326931125 0.0000000000 716.2476091404
+0.0000000000 1024.0029587175 505.5439249883
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1023.2925035637 0.0000000000 609.9035725955
+0.0000000000 1017.4288272014 496.2173957358
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1022.6188035798 0.0000000000 702.4358855229
+0.0000000000 1019.1498020363 489.6722041031
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_005_scene_7_circular/pose.txt b/iMED_pe/test/session_005_scene_7_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..667c65d934a46f004be46492e50260a93a0ef03f
--- /dev/null
+++ b/iMED_pe/test/session_005_scene_7_circular/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 1.0000000000
+20 0.6600975199 -1.1500995397 0.1576837610 0.0093612412 0.0048857275 -0.0023529059 0.9999414786
+32 0.0872053408 -1.5229206262 -0.1055309901 0.0181551168 -0.0021735611 -0.0037609168 0.9998257463
+44 -0.5858285909 0.1365771076 -0.6254264802 0.0157497895 -0.0109063299 0.0006657426 0.9998162596
+56 -0.2266242580 1.8240763565 -1.2349575018 0.0063861219 -0.0095477201 0.0043680183 0.9999244866
+68 0.8026778446 1.5777114892 -1.9292580229 -0.0015564713 0.0006055420 0.0083579830 0.9999636768
+80 1.0877528281 0.0744810311 -1.5415680571 0.0061619139 0.0063920962 0.0014928980 0.9999594708
+92 -0.7079242768 -1.2710203801 -1.1935962611 0.0114821247 0.0031078400 -0.0044381757 0.9999193991
+104 -2.1314773751 -0.2615690118 -1.2892815717 0.0112338086 -0.0093068673 -0.0012021669 0.9998928635
+116 -1.5073684814 2.1764820661 -1.7880443820 0.0046876401 -0.0152423853 0.0047901754 0.9998613654
+128 -1.1649415778 2.2420346347 -2.0170143604 -0.0044748332 -0.0048827330 0.0077995266 0.9999476497
+140 -0.2503104543 0.2462984604 -1.5519136064 0.0022127718 -0.0014717160 0.0058542694 0.9999793324
+152 -0.9174941170 -0.9169408204 -1.6208171948 0.0128566367 -0.0074606397 0.0008069752 0.9998891911
+164 -2.7606283537 -1.2318794790 -2.4219996670 0.0074182992 -0.0145908276 0.0066219461 0.9998441011
+176 -3.2149312325 0.3990440742 -3.2106772637 -0.0041217722 -0.0147293904 0.0078557563 0.9998521606
+188 -1.8204554137 1.4726767875 -3.7855261896 -0.0118181948 -0.0074970929 0.0034533737 0.9998960936
+200 -0.3858716509 0.9869147269 -3.5477443893 -0.0043408797 -0.0043758338 -0.0018466741 0.9999792991
+212 -0.5252440191 -0.4397151665 -3.1615119336 0.0019102196 -0.0075382734 -0.0039462020 0.9999619758
+224 -1.8418449804 -1.1448526159 -2.7717540809 0.0037560997 -0.0114097125 -0.0037781858 0.9999207146
+236 -2.0710325003 0.6092753686 -3.4844521980 -0.0019429374 -0.0154316683 -0.0012971200 0.9998781956
+248 -0.5327681912 1.9134294993 -4.3154849059 -0.0088971596 -0.0133143094 -0.0028180400 0.9998678054
+260 0.5866400905 0.8054069246 -4.3545073308 -0.0088548972 -0.0056686304 -0.0022042126 0.9999422978
+272 0.4833597477 -0.2027268603 -4.0953795624 -0.0028636130 -0.0040184072 -0.0018066365 0.9999861940
+284 -0.7750605699 -0.9934692601 -3.9158216800 0.0006030866 -0.0103579344 -0.0033053529 0.9999407103
+296 -2.0949228198 0.9949878102 -3.6277951070 -0.0030365640 -0.0162691878 -0.0046021765 0.9998524455
+305 -1.4103140934 2.9867870200 -4.0390476906 -0.0067962968 -0.0190848242 -0.0032966727 0.9997893337
+317 -0.7265417828 3.3787888380 -4.8343074257 -0.0127816221 -0.0124677918 -0.0026658821 0.9998370254
+329 -0.9634344047 1.5969208974 -4.9447998569 -0.0119543173 -0.0003176662 -0.0014187733 0.9999274876
+341 -1.3521648627 0.5392124160 -5.0980219437 -0.0026978443 -0.0065852482 -0.0016296071 0.9999733499
+353 -3.8138124600 1.0450559337 -5.1031064569 -0.0046215666 -0.0138922809 -0.0001011032 0.9998928120
+365 -3.9948582165 2.6701463879 -5.8226040828 -0.0151448194 -0.0208352766 0.0044469385 0.9996583168
+377 -2.7808498407 3.0966336330 -5.9969082818 -0.0197521133 -0.0124934454 0.0058939246 0.9997094725
+389 -1.1532025671 2.3133755080 -5.5041314083 -0.0099030747 -0.0019652305 0.0003851677 0.9999489580
+401 -0.6967259848 0.6638139393 -5.3360439814 -0.0004300388 -0.0005100757 -0.0049478824 0.9999875366
+413 -1.4285907688 -0.4442918826 -5.6106944534 -0.0008064289 -0.0069934688 -0.0097154485 0.9999280230
+425 -0.5390880846 0.2895011457 -5.4847959222 -0.0083815133 -0.0043205239 -0.0124036028 0.9998786096
+437 1.2535000959 0.2790277954 -4.7278820747 -0.0027293195 0.0053336444 -0.0109310709 0.9999223044
+449 1.3346273939 -2.0225374041 -4.4142698675 0.0046383824 0.0092485073 -0.0175512100 0.9997924312
+461 0.6657074918 -3.1462885201 -4.6565415664 0.0134884683 0.0018514921 -0.0163845597 0.9997730640
+473 0.3616146182 -2.1141063982 -5.2706299327 0.0106025496 -0.0037740958 -0.0146732915 0.9998290037
+485 1.9334723156 -2.3023198994 -4.9344574143 0.0052470787 0.0052233491 -0.0211669005 0.9997485419
+497 2.6776951865 -3.1594873078 -4.1018745474 0.0130461117 0.0115222904 -0.0250859480 0.9995337568
+509 2.9485222693 -3.8739863666 -3.8728360301 0.0223654628 0.0052813023 -0.0220782809 0.9994920927
+521 1.7626649438 -3.4765907240 -4.6898792446 0.0176037763 -0.0046107976 -0.0138492148 0.9997384892
+533 1.4613594988 -1.2718031440 -5.1246368151 0.0072396178 -0.0011188338 -0.0150246761 0.9998602879
+545 2.5280018070 -0.9264508852 -4.6981265532 0.0046254981 0.0084199998 -0.0136430587 0.9998607780
+557 2.9769527567 -2.0764772799 -3.9657972882 0.0115849203 0.0094006347 -0.0128690811 0.9998058834
+569 1.7970780498 -2.3087688809 -3.7917734309 0.0174889421 -0.0015147105 -0.0136072649 0.9997533120
+581 -0.2669742042 -1.2638490165 -4.0012950317 0.0074068257 0.0011921329 -0.0113446963 0.9999075035
+593 -0.0141007833 -0.2432131067 -4.6104013813 -0.0015799985 0.0093989617 -0.0079678825 0.9999228350
diff --git a/iMED_pe/test/session_005_scene_7_left_right/K.txt b/iMED_pe/test/session_005_scene_7_left_right/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..154d2eff53e104122a4ea76b0415fd1e59e4d75a
--- /dev/null
+++ b/iMED_pe/test/session_005_scene_7_left_right/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1026.1978250267 0.0000000000 634.6705886215
+0.0000000000 1023.3819639524 489.8573355231
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1025.6326931125 0.0000000000 716.2476091404
+0.0000000000 1024.0029587175 505.5439249883
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1023.2925035637 0.0000000000 609.9035725955
+0.0000000000 1017.4288272014 496.2173957358
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1022.6188035798 0.0000000000 702.4358855229
+0.0000000000 1019.1498020363 489.6722041031
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_005_scene_7_left_right/pose.txt b/iMED_pe/test/session_005_scene_7_left_right/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eba87b7ebcc37af2bcf7d94b819e29698b4d16f0
--- /dev/null
+++ b/iMED_pe/test/session_005_scene_7_left_right/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 1.0000000000
+20 -0.0056446930 -0.9989433909 0.0442867532 -0.0024028583 0.0136822638 0.0014558339 0.9999024465
+32 -0.6940434754 -1.2190320591 0.1433285065 -0.0034268450 0.0123684984 0.0046643492 0.9999067561
+44 -2.1505428476 -0.1511282844 0.5129987349 -0.0011404875 0.0012624867 0.0054977905 0.9999834397
+56 -3.9201394657 -0.0766324778 0.4319238811 -0.0033118015 -0.0075608901 0.0038644688 0.9999584645
+68 -3.7207786584 -0.0163403889 -0.0168527055 -0.0029009445 -0.0073745921 0.0007399399 0.9999683257
+80 -2.4465253158 -2.0904483204 -0.0385330678 -0.0096556549 0.0092988367 0.0030812003 0.9999053986
+92 -2.0254732537 -2.8152213819 0.0974902178 -0.0117271718 0.0176493723 0.0017008356 0.9997740146
+104 -1.4906333844 -2.1090334981 0.2381098475 -0.0071591352 0.0173389579 0.0021787359 0.9998216643
+116 -3.5242425808 -0.6438453643 0.1846964882 -0.0030642263 0.0055227160 0.0025426979 0.9999768221
+128 -5.1687792479 -0.6475641182 -0.4402506585 -0.0070250962 -0.0076999644 -0.0001548720 0.9999456658
+140 -4.4075303912 -1.1125467119 -0.6441151557 -0.0088473509 -0.0028249375 -0.0005210139 0.9999567354
+152 -2.6962737743 -1.8911321260 -0.9387714894 -0.0078256447 0.0113062709 0.0006019235 0.9999052781
+164 -0.9954497225 -1.3942910905 -1.0123230288 -0.0020155281 0.0140220008 -0.0003965522 0.9998995769
+176 -1.6176323774 -1.3887003298 -0.5893477680 -0.0031287882 0.0050613315 -0.0000195827 0.9999822965
+188 -3.3779606123 -0.7367034461 -0.4183902345 -0.0030398915 -0.0042688322 -0.0012239909 0.9999855189
+200 -4.2540548374 -0.5550302975 -0.8556171089 -0.0033060037 -0.0091269099 -0.0034436210 0.9999469543
+212 -2.1893385804 -0.8365641126 -1.3101738378 -0.0009654583 -0.0018973598 -0.0072760041 0.9999712634
+224 -0.0733975778 -1.4482455750 -1.2117758451 0.0007657481 0.0104586827 -0.0094494274 0.9999003640
+236 -0.4580716752 -1.8254422403 -1.2216750431 0.0009480248 0.0127256162 -0.0076972969 0.9998889496
+248 -2.9750428356 -1.9941940895 -1.2398923966 -0.0031173494 0.0064674175 -0.0087671117 0.9999357941
+260 -3.3623440143 -1.0233256099 -1.2725176554 -0.0012168280 -0.0069976259 -0.0101768006 0.9999229897
+272 -2.4022057850 -0.8769036047 -1.5751452950 0.0003589134 -0.0043987712 -0.0091339933 0.9999485448
+284 -1.3169405829 -1.7242432723 -2.0110434627 -0.0013609165 0.0108036195 -0.0103553639 0.9998870917
+296 -0.4877651285 -1.4393795676 -2.0673514101 0.0015009628 0.0134013527 -0.0100398706 0.9998586659
+305 -1.0776081366 -1.3413585809 -2.0709974364 0.0000906263 0.0040776323 -0.0089945741 0.9999512300
+317 -3.1138358649 -1.1576846496 -2.0416167096 -0.0028094217 -0.0079777736 -0.0082574542 0.9999301359
+329 -5.0360627607 -0.9582710613 -2.4645067283 -0.0045373187 -0.0149779859 -0.0082063636 0.9998438519
+341 -2.5272221656 -1.3207896785 -2.9825864639 -0.0025751969 -0.0063004637 -0.0110363228 0.9999159325
+353 -0.1705932151 -1.2101478180 -2.7457761111 0.0014788265 0.0012127802 -0.0155050214 0.9998779608
+365 -0.6569141777 -1.4106369835 -2.4032523489 0.0028604958 0.0053978331 -0.0114343452 0.9999159648
+377 -3.3658810315 -1.3082679912 -1.8367384229 -0.0001991441 -0.0058134593 -0.0079303486 0.9999516356
+389 -5.1836087692 -1.6213625035 -1.8716687430 -0.0049539398 -0.0136620764 -0.0117884418 0.9998249041
+401 -3.6574084481 -1.5966543467 -1.6502560467 -0.0002468138 -0.0070554378 -0.0158956355 0.9998487329
+413 -1.7115957044 -1.5631727945 -1.6409247364 0.0044855145 0.0028359370 -0.0159840280 0.9998581642
+425 -1.6179498389 -1.7587015019 -1.5488670828 0.0041166965 0.0111763198 -0.0157649331 0.9998047857
+437 -2.1530059678 -1.4808046162 -1.6818072529 0.0009928595 -0.0027089867 -0.0165239381 0.9998593076
+449 -4.3385919815 -1.2885809811 -2.2104650856 -0.0012006554 -0.0136315833 -0.0145102388 0.9998010759
+461 -3.4651413563 -1.2700330239 -2.2036934783 0.0000628487 -0.0128317919 -0.0164325002 0.9997826334
+473 -0.9295224427 -1.5565750146 -2.4777818662 0.0021086295 -0.0047191167 -0.0178839552 0.9998267089
+485 -0.7850909356 -1.9934980811 -2.5365935765 0.0019841781 0.0047769411 -0.0169221944 0.9998434293
+497 -2.5756638704 -1.5333238074 -2.0918298943 0.0017999508 -0.0001410834 -0.0145637653 0.9998923127
+509 -4.7604957328 -1.2549944332 -2.2382472863 -0.0015748825 -0.0124817416 -0.0171600416 0.9997736038
+521 -4.3269045979 -1.3717852680 -2.8263625013 -0.0014465305 -0.0128107003 -0.0168444985 0.9997750029
+533 -2.4923125038 -1.8809409154 -3.4136171313 -0.0008932916 -0.0029709709 -0.0168806066 0.9998526994
+545 -1.3572551721 -2.0241831437 -3.1233031840 0.0010884383 0.0059228564 -0.0170805721 0.9998359811
+557 -2.7554830407 -1.6769529003 -2.7628421417 0.0006826577 -0.0008512104 -0.0146992233 0.9998913652
+569 -5.2674314650 -2.1580444028 -3.0919151419 -0.0062186144 -0.0105665834 -0.0159425392 0.9997977353
+581 -4.6717970437 -1.6486619636 -3.3575299460 -0.0035360558 -0.0107264221 -0.0181858851 0.9997708306
+593 -2.9444076531 -1.5551971981 -3.6035006990 0.0010151921 0.0021426570 -0.0169395020 0.9998537051
diff --git a/iMED_pe/test/session_005_scene_7_zoom_in/K.txt b/iMED_pe/test/session_005_scene_7_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..154d2eff53e104122a4ea76b0415fd1e59e4d75a
--- /dev/null
+++ b/iMED_pe/test/session_005_scene_7_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1026.1978250267 0.0000000000 634.6705886215
+0.0000000000 1023.3819639524 489.8573355231
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1025.6326931125 0.0000000000 716.2476091404
+0.0000000000 1024.0029587175 505.5439249883
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1023.2925035637 0.0000000000 609.9035725955
+0.0000000000 1017.4288272014 496.2173957358
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1022.6188035798 0.0000000000 702.4358855229
+0.0000000000 1019.1498020363 489.6722041031
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_005_scene_7_zoom_in/pose.txt b/iMED_pe/test/session_005_scene_7_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e98a4846b4c261c5b8c853d78a48e1a5ac2a5f39
--- /dev/null
+++ b/iMED_pe/test/session_005_scene_7_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 -0.0000000000 0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 1.0000000000
+20 0.4413622101 -0.8159437246 1.9724368637 -0.0021207125 -0.0009251967 0.0028754051 0.9999931893
+32 0.0709209856 -1.1624641074 5.2745357755 -0.0011878128 0.0022725284 0.0095447602 0.9999511599
+44 0.1753317355 -0.9089886882 5.1865860574 -0.0005202437 0.0019770870 0.0083347997 0.9999631751
+56 0.9042933730 0.1525952543 2.2500457443 0.0026972700 -0.0018746843 0.0030484731 0.9999899585
+68 -0.0161791597 -0.3193388221 -0.2138383102 -0.0005542166 0.0011285222 0.0019012843 0.9999974022
+80 0.1108029411 -0.6460017492 0.9472605893 -0.0010435944 0.0008194663 0.0040796290 0.9999907980
+92 1.0986992200 -0.1650883100 4.3134685747 0.0018294575 -0.0010839851 0.0068090195 0.9999745573
+104 1.4707291429 0.2801281382 4.7881087219 0.0012693596 -0.0019765435 0.0023991816 0.9999943629
+116 0.7311620066 0.5260732016 2.3041077037 -0.0003504548 -0.0012340694 0.0006110084 0.9999989905
+128 -1.0172181431 -0.3661009731 0.0433683046 -0.0052816186 0.0034054862 0.0050848398 0.9999673253
+140 -0.6796807115 -0.7330658815 0.9083563491 -0.0049704206 0.0027882170 0.0063185963 0.9999637974
+152 0.9219537157 -0.5126433412 4.2269020425 -0.0012570147 -0.0011875140 0.0061342272 0.9999796903
+164 1.6156452764 -0.2181349663 5.6410440218 -0.0003751520 -0.0030315089 0.0051496420 0.9999820750
+176 1.1397373743 -0.6212585067 2.4314845534 -0.0038807809 -0.0028266109 0.0060205170 0.9999703512
+188 -0.3821229807 -0.7266103862 -1.2566135496 -0.0046013062 0.0001031112 0.0062072635 0.9999701432
+200 -0.2490604407 -0.5862128292 0.3347823377 -0.0032633922 -0.0004398757 0.0051138327 0.9999815026
+212 1.1226584061 -0.2610475940 4.4891342945 -0.0015921205 -0.0033098054 0.0050098065 0.9999807059
+224 0.8888498484 -0.2777032074 6.9306460608 -0.0038037391 -0.0001552893 0.0018122853 0.9999911115
+236 0.2267379980 0.0568345326 4.0524525470 -0.0038285320 0.0026367403 0.0004861564 0.9999890767
+248 -0.3131456918 0.0415210856 0.6960054309 -0.0037219013 0.0021981644 0.0015649280 0.9999894332
+260 -0.1003787921 -0.2611670992 0.7444509258 -0.0029628023 -0.0001069387 0.0039540850 0.9999877877
+272 0.0191446772 -1.3130782832 4.0453481236 -0.0067765494 0.0031931987 0.0063541568 0.9999517521
+284 1.1010118980 -0.2555846950 5.0718155525 -0.0029981323 0.0004543093 0.0045881101 0.9999848769
+296 1.6380271410 0.7164723954 2.7897081516 -0.0008073984 -0.0026140119 0.0011087256 0.9999956429
+305 0.8444618214 1.2521936946 0.7777088393 0.0010927307 -0.0005866763 0.0027748459 0.9999953810
+317 -0.0156899387 0.2176611656 0.6394684862 -0.0024495726 0.0024188385 0.0080372969 0.9999617746
+329 0.7387540097 -0.0931845147 3.8632980893 -0.0021346286 0.0025050502 0.0077233821 0.9999647581
+341 1.4021961610 0.2391321058 5.5464551810 -0.0003815658 -0.0008785556 0.0045053923 0.9999893919
+353 0.9407261365 0.0772712279 3.9544815269 -0.0013019971 -0.0010638458 0.0049531715 0.9999863195
+365 0.0749801269 -0.6542542774 0.6844864120 -0.0059563737 0.0005600519 0.0049366463 0.9999699183
+377 -0.4999268336 -0.7477269488 1.5185102118 -0.0060689580 0.0039344949 0.0067881315 0.9999508032
+389 0.1125903274 -0.6597151351 4.1420135140 -0.0052827524 0.0030909972 0.0094724800 0.9999364032
+401 1.0997204918 0.6987472857 6.4204398338 0.0006494591 -0.0001135965 0.0101191573 0.9999485827
+413 1.1399506901 1.4576641296 4.9798134465 0.0022664593 -0.0016032038 0.0084393629 0.9999605342
+425 0.3829582576 1.0062995410 0.7704990037 -0.0008910821 -0.0028020461 0.0093580711 0.9999518894
+437 0.1576025873 0.3474961881 1.3312582398 -0.0052184070 -0.0006532105 0.0070520582 0.9999613043
+449 0.5125898989 0.3041421677 4.0912623088 -0.0054119350 0.0016493365 0.0071406838 0.9999584998
+461 1.2982751052 0.7951317679 6.5158029938 -0.0024789228 -0.0000224406 0.0084752115 0.9999610119
+473 1.2557030676 1.1969424949 5.1962650372 -0.0015418024 -0.0014862533 0.0073145749 0.9999709550
+485 0.2269585994 0.8659372494 2.2193631810 -0.0042563780 0.0007083215 0.0062077317 0.9999714224
+497 -0.8852330293 0.4939450908 0.3646544131 -0.0061613243 0.0034339369 0.0052698309 0.9999612368
+509 -0.9978407367 0.0612683062 3.0079628070 -0.0053981964 0.0059134223 0.0093657703 0.9999240837
+521 -0.5776979062 -0.1729179144 4.3137357617 -0.0054268141 0.0054571899 0.0107627341 0.9999124623
+533 0.0905164395 0.7951686150 3.2983280189 -0.0017601421 0.0020639998 0.0106212999 0.9999399131
+545 -1.1202051715 1.1868653837 -0.4608672760 -0.0027819739 0.0029414258 0.0107245452 0.9999342942
+557 -1.1686127534 0.6761600377 -1.0272883966 -0.0056223728 0.0015505993 0.0113383069 0.9999187104
+569 -0.8336513753 0.5722384031 1.0415848028 -0.0047180855 0.0021818722 0.0133556907 0.9998972970
+581 -0.4447345540 0.8564965843 3.7183681846 -0.0023227105 0.0038718430 0.0146232912 0.9998828797
+593 -0.5423411498 0.9709611927 3.5653745982 -0.0023560675 0.0044627255 0.0144930564 0.9998822352
diff --git a/iMED_pe/test/session_006_scene_7_circular/K.txt b/iMED_pe/test/session_006_scene_7_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..18cd0b83cf4ce1d7284f83d5b7db8e923890a3bf
--- /dev/null
+++ b/iMED_pe/test/session_006_scene_7_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1025.3784533960 0.0000000000 564.1097162540
+0.0000000000 1027.3615030954 545.4681766787
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1026.0611814076 0.0000000000 653.9859682529
+0.0000000000 1027.3316875342 543.8496305887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1017.1944160018 0.0000000000 585.9134882891
+0.0000000000 1018.1541832560 536.3228366449
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1016.3324859120 0.0000000000 676.5122782405
+0.0000000000 1016.6175359755 533.7056559177
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_006_scene_7_circular/pose.txt b/iMED_pe/test/session_006_scene_7_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d64859b012194b3852f94edc023f024bfc63f422
--- /dev/null
+++ b/iMED_pe/test/session_006_scene_7_circular/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 1.0000000000
+20 3.0697056035 -1.1895534804 0.6396236248 -0.0119703010 -0.0006434438 -0.0005349694 0.9999280032
+32 4.1687361313 -2.5896102599 0.3106435721 -0.0191585237 0.0081789684 0.0036402916 0.9997763769
+44 1.9796173592 -1.9389550160 -0.9419925443 -0.0110796100 0.0310807205 0.0053369551 0.9994412179
+56 -0.2201580092 -1.2039892289 -2.2502531459 -0.0010560025 0.0483230782 0.0032652175 0.9988258624
+68 -1.2100939456 -1.5643503734 -3.4743334867 0.0102003341 0.0532262579 0.0023309465 0.9985276588
+80 -0.3169038617 -2.4458336187 -3.9860968871 0.0193777162 0.0440591032 0.0020572182 0.9988388596
+92 -0.6710707148 -1.4867338056 -4.0957803933 0.0310714737 0.0378076432 0.0033510354 0.9987962336
+104 -0.3002697603 -1.5119090794 -3.8938430553 0.0316905002 0.0230517401 0.0030921385 0.9992270854
+116 0.7961748473 -2.4637582115 -3.3311175702 0.0205860861 0.0041447503 0.0024945532 0.9997763807
+128 -1.7524780968 0.5430001091 -3.2757205391 0.0228050554 0.0083487658 0.0044920952 0.9996949778
+140 -3.9712392607 4.7060599526 -3.1786949171 0.0254047574 0.0236394872 0.0106618972 0.9993408312
+152 -2.2458658277 3.9025743315 -2.2732290016 0.0122762182 0.0259008600 0.0115750240 0.9995221152
+164 0.4539462151 1.3873352906 -1.5588294584 -0.0032112985 0.0283126723 0.0110056223 0.9995333693
+176 1.3345807949 0.5102560869 -2.4475906228 -0.0021741973 0.0398185506 0.0135667886 0.9991124552
+188 1.5245027777 -0.5391792017 -3.1896802977 0.0033704897 0.0450191366 0.0146705423 0.9988727108
+200 -0.1159124444 -0.5740782580 -3.3766277210 0.0152204376 0.0521952939 0.0135000371 0.9984296363
+212 -1.9527948706 0.9564730858 -3.6919062083 0.0384634363 0.0550778138 0.0108552121 0.9976818946
+224 0.0353253881 -1.6193807431 -4.0536049029 0.0368238196 0.0347746643 0.0083202799 0.9986818823
+236 -0.2854978202 -1.7461831097 -4.2211633709 0.0337971861 0.0238318048 0.0071060642 0.9991192617
+248 -0.4353376113 -0.8405298740 -3.7516333482 0.0267143306 0.0125621979 0.0048941020 0.9995521915
+260 -0.6052048169 -0.0413131446 -3.4476609037 0.0172331354 0.0064216393 0.0031725134 0.9998258432
+272 -1.6092677722 2.4332719330 -3.4724358165 0.0152774040 0.0117803231 0.0027782252 0.9998100351
+284 -0.1487195630 1.8638463136 -2.7065943039 0.0023105047 0.0136183413 0.0035250155 0.9998983831
+296 3.6082079526 -1.0559796360 -1.7989122324 -0.0159790504 0.0107549424 0.0081409286 0.9997813393
+305 3.4121226979 -0.6474621147 -2.3746640138 -0.0099836014 0.0212298758 0.0103283936 0.9996714182
+317 1.7928035854 -1.1748750764 -3.8045323522 -0.0011444382 0.0334978882 0.0080705572 0.9994055472
+329 0.5118246273 -1.4302699492 -4.7627388367 0.0091449870 0.0365033717 0.0005579046 0.9992915299
+341 -2.6393580971 0.6203379196 -5.5158092404 0.0311706141 0.0435929759 -0.0003624338 0.9985629244
+353 -2.7596196614 1.2277110409 -5.5140231033 0.0396091035 0.0357374830 0.0048770407 0.9985640519
+365 -1.9708156955 0.0093837330 -4.8580213971 0.0321378839 0.0217513792 0.0065549278 0.9992252333
+377 -0.5729263637 -0.9405152875 -4.4978621146 0.0218168451 0.0040058675 0.0058320441 0.9997369482
+389 2.0184658727 -0.5452981577 -4.6688244277 0.0132337269 -0.0175530956 0.0049688385 0.9997460017
+401 0.6995219262 2.4989580799 -4.9555281721 0.0143878559 -0.0126652203 0.0098763511 0.9997674927
+413 -0.4191279226 3.0708098735 -4.1862484233 0.0048143173 0.0004806038 0.0172845857 0.9998389043
+425 -0.8830949633 3.5703205856 -3.8826181320 0.0003276993 0.0146710649 0.0162104133 0.9997609089
+437 1.1182639328 2.3766012855 -3.8523061948 -0.0027929858 0.0183552829 0.0134710208 0.9997368726
+449 2.5356416124 0.5597703565 -4.1553937150 -0.0026596604 0.0194050590 0.0116545187 0.9997402373
+461 1.0045294712 1.2748702331 -5.0819528951 0.0111766971 0.0265844271 0.0099969770 0.9995340965
+473 -3.4443892426 3.3868467597 -6.4006877396 0.0335714333 0.0421221604 0.0105511326 0.9984925418
+485 -1.4818559074 0.4524273190 -6.2697576238 0.0281486766 0.0253532784 0.0111712575 0.9992197287
+497 -2.1069529718 0.8047117916 -6.5846434458 0.0317436890 0.0173073037 0.0111488122 0.9992839934
+509 -1.1709602070 -0.5525951930 -6.5087992855 0.0216879808 0.0024596172 0.0111729239 0.9996993286
+521 -1.2026129800 1.7650546130 -6.3995795271 0.0230509207 -0.0040583728 0.0100610332 0.9996754275
+533 -0.7978566635 3.6668543047 -6.0785507245 0.0219825484 -0.0066907410 0.0116909648 0.9996676062
+545 -1.9659499041 5.4138401187 -6.0798491421 0.0195164494 0.0023712759 0.0173951580 0.9996553875
+557 0.0973774880 4.3205139682 -5.2239024163 0.0034250959 0.0010492387 0.0186379304 0.9998198815
+569 4.1027446839 1.7632955303 -4.3126748220 -0.0119016138 -0.0082470489 0.0169195034 0.9997520033
+581 4.9289490703 -0.2106445194 -4.7646434888 -0.0182072117 0.0003187816 0.0196488996 0.9996410939
+593 7.0847725747 -1.6283800219 -5.4943633640 -0.0191720126 0.0012479139 0.0196410896 0.9996224809
diff --git a/iMED_pe/test/session_006_scene_7_left_right/K.txt b/iMED_pe/test/session_006_scene_7_left_right/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..18cd0b83cf4ce1d7284f83d5b7db8e923890a3bf
--- /dev/null
+++ b/iMED_pe/test/session_006_scene_7_left_right/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1025.3784533960 0.0000000000 564.1097162540
+0.0000000000 1027.3615030954 545.4681766787
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1026.0611814076 0.0000000000 653.9859682529
+0.0000000000 1027.3316875342 543.8496305887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1017.1944160018 0.0000000000 585.9134882891
+0.0000000000 1018.1541832560 536.3228366449
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1016.3324859120 0.0000000000 676.5122782405
+0.0000000000 1016.6175359755 533.7056559177
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_006_scene_7_left_right/pose.txt b/iMED_pe/test/session_006_scene_7_left_right/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..27033f767f537e4a0002744e5b821514d32a8831
--- /dev/null
+++ b/iMED_pe/test/session_006_scene_7_left_right/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 -0.0000000000 0.0000000000 0.0000000000 -0.0000000000 1.0000000000
+20 2.3230156752 -0.0110824574 -0.2975673406 0.0042144698 -0.0037089187 -0.0017020444 0.9999827925
+32 2.8582019421 -0.1127122696 0.1801881445 0.0016248991 -0.0109375146 -0.0002763279 0.9999388252
+44 0.6717161153 1.8083665259 0.8415364855 0.0060157066 -0.0108404958 0.0006609651 0.9999229261
+56 -0.8799684647 3.2159686143 0.9579776264 0.0092166778 -0.0113938658 -0.0029312174 0.9998883141
+68 0.2079298778 1.7746888042 0.7835205585 0.0035798758 -0.0150978368 -0.0070769309 0.9998545679
+80 3.3591216887 -0.6128293876 0.7091453979 -0.0012080100 -0.0192281561 -0.0024824236 0.9998113103
+92 3.6750694326 -0.7992828858 -0.1076828522 0.0024013187 -0.0132502580 0.0001389835 0.9999093184
+104 3.3840130916 -0.7108337482 0.1444393558 0.0020154644 -0.0147003803 0.0003472731 0.9998898520
+116 2.3762817652 0.1909009268 0.8641896882 0.0016026075 -0.0209025635 -0.0024133336 0.9997773204
+128 1.0503178342 1.2369289805 1.1391719289 0.0032570317 -0.0217197032 -0.0034787517 0.9997527417
+140 1.8196468640 1.5338429440 0.7511707109 0.0074329851 -0.0205826979 -0.0047823762 0.9997490846
+152 1.0358596944 1.5721232284 -0.0376489111 0.0137782485 -0.0040895097 -0.0022885880 0.9998940935
+164 1.8661791577 0.1592886279 -0.3313944004 0.0086048368 -0.0036903121 0.0013441875 0.9999552648
+176 3.2088901451 -0.5614838905 0.1707210793 0.0027518023 -0.0155082856 0.0003162376 0.9998759026
+188 2.1795723888 0.1065901544 1.0177982854 0.0008731801 -0.0215952870 -0.0008140701 0.9997660819
+200 0.9070201234 0.6084781102 1.3284942924 0.0022469758 -0.0168660801 -0.0010904510 0.9998546381
+212 1.4818340865 0.4723412641 0.5381282524 0.0064956789 -0.0093917306 -0.0002760444 0.9999347605
+224 -1.2849298983 2.5041736790 -0.9832186437 0.0201034762 0.0110607809 -0.0014585511 0.9997356561
+236 -0.2632890742 2.0162825028 -0.8813231270 0.0169782511 0.0044897165 -0.0014133322 0.9998447799
+248 0.5203483906 1.2783260941 -0.4069622309 0.0089448057 -0.0068650100 0.0011961293 0.9999357136
+260 -0.3652962162 1.6273810930 0.1064370439 0.0067390395 -0.0100256879 -0.0014283612 0.9999260126
+272 1.5887115050 0.1304020136 0.9812200668 -0.0005512095 -0.0199203261 -0.0029701568 0.9997970069
+284 2.6308652048 -0.0183747314 -0.2458782952 0.0039690514 -0.0147198625 -0.0038199579 0.9998764825
+296 0.9010246580 0.9828578929 -1.1597983815 0.0121792838 0.0016449513 -0.0013232740 0.9999236011
+305 -0.7180122273 2.1520431458 -1.4392118811 0.0163190774 0.0068118732 0.0002672737 0.9998435951
+317 1.5454514755 1.2493948615 -0.4709077853 0.0084808812 -0.0113225466 0.0000257659 0.9998999320
+329 2.0662539792 0.4298865730 0.8909724029 0.0000484735 -0.0220279870 -0.0036948494 0.9997505256
+341 2.5966456386 -1.0594473118 0.8937125983 -0.0073422208 -0.0235267891 -0.0030054253 0.9996917272
+353 3.8227877276 -0.9649637043 -0.1063211933 -0.0017100909 -0.0195331480 -0.0023528029 0.9998049790
+365 1.7468665442 0.8369429001 -1.0077793541 0.0114129448 -0.0009263631 -0.0005451149 0.9999342925
+377 -0.7505260336 0.9703070704 -1.3848746754 0.0089830712 0.0056955110 0.0040275242 0.9999353202
+389 -0.2143713237 1.0589036142 -0.5728159269 0.0031558433 -0.0098850851 0.0019500969 0.9999442599
+401 0.0327581723 1.6892058568 0.3407007991 0.0026239763 -0.0181295890 -0.0026342600 0.9998287320
+413 1.0057953580 1.1886348949 0.0229180830 0.0049128439 -0.0143057015 -0.0022841000 0.9998829900
+425 1.6089457809 1.7836828132 -1.3032353511 0.0142881630 -0.0055937001 -0.0013066760 0.9998814187
+437 2.2932381371 0.3225154048 -1.3816933077 0.0088595759 -0.0062314525 0.0005063528 0.9999412085
+449 1.6883332583 0.0286946361 -0.5830207151 0.0019442944 -0.0137527502 0.0017641248 0.9999019799
+461 2.4393112331 -0.6801511316 0.2452873307 -0.0072024496 -0.0283758561 -0.0007483690 0.9995710957
+473 -0.1277587682 1.2615157634 -0.0122962101 0.0036388453 -0.0128492134 -0.0006366284 0.9999106216
+485 -0.7097354463 1.5269578082 -0.9087517141 0.0104259319 -0.0000603502 0.0004293167 0.9999455545
+497 -0.4615966195 2.1909296955 -1.3710284633 0.0177702440 0.0048290936 0.0008774278 0.9998300498
+509 1.1657774668 1.3267609821 -0.9281314452 0.0105675331 -0.0093674667 0.0014049194 0.9998992969
+521 0.6816971455 0.9817440671 -0.2428125844 0.0024725598 -0.0192594418 0.0011165965 0.9998108389
+533 -0.4326997423 2.2818608217 0.0821827114 0.0056140972 -0.0189537284 -0.0014941383 0.9998034835
+545 -0.6365092131 2.4440079848 -0.3387897091 0.0108419679 -0.0084531841 -0.0021115222 0.9999032638
+557 -0.7919093557 2.3644642873 -1.2283221014 0.0162876479 0.0043146379 0.0018370602 0.9998563505
+569 0.0269786198 2.6571536209 -1.4274311642 0.0184997250 0.0014857899 0.0034746483 0.9998217238
+581 1.5081157999 1.2533522054 -0.4009857793 0.0073030812 -0.0148375769 0.0019016485 0.9998614379
+593 0.3726761756 2.8368090114 -0.6909606200 0.0097769756 -0.0190306955 -0.0000465612 0.9997710944
diff --git a/iMED_pe/test/session_006_scene_7_zoom_in/K.txt b/iMED_pe/test/session_006_scene_7_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..18cd0b83cf4ce1d7284f83d5b7db8e923890a3bf
--- /dev/null
+++ b/iMED_pe/test/session_006_scene_7_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1025.3784533960 0.0000000000 564.1097162540
+0.0000000000 1027.3615030954 545.4681766787
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1026.0611814076 0.0000000000 653.9859682529
+0.0000000000 1027.3316875342 543.8496305887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1017.1944160018 0.0000000000 585.9134882891
+0.0000000000 1018.1541832560 536.3228366449
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1016.3324859120 0.0000000000 676.5122782405
+0.0000000000 1016.6175359755 533.7056559177
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_006_scene_7_zoom_in/pose.txt b/iMED_pe/test/session_006_scene_7_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43b9520d3cba81ba8d96a2533fc13503a961340b
--- /dev/null
+++ b/iMED_pe/test/session_006_scene_7_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000000000
+20 2.6158814520 -2.2945750824 2.1433547933 -0.0089074247 -0.0115601556 0.0007585489 0.9998932169
+32 2.3536770192 -2.2228037416 3.6079682698 -0.0085879910 -0.0111132780 0.0011405797 0.9999007153
+44 2.1347736777 -1.9813098394 4.1567333753 -0.0077343310 -0.0096032930 0.0026793371 0.9999203859
+56 0.3312144138 -0.8526877659 2.0251946622 -0.0039797560 -0.0012722448 0.0029310499 0.9999869759
+68 1.6135456030 -0.9131739626 1.1177847656 -0.0043202778 -0.0071149703 0.0014639326 0.9999642840
+80 3.0816010202 -1.7537749913 1.4228255845 -0.0066958495 -0.0133366741 0.0017119701 0.9998871776
+92 4.7196450751 -3.7199092323 3.9148079064 -0.0147449804 -0.0212623086 0.0017581081 0.9996636479
+104 3.2923530923 -3.3498761592 5.2592040739 -0.0137550786 -0.0151436643 0.0033266114 0.9997851774
+116 0.7625180689 -1.4979242203 3.3754914794 -0.0056528962 -0.0032744166 0.0029451026 0.9999743243
+128 1.5111458913 -2.1317316845 1.7741567068 -0.0081100825 -0.0067067694 0.0011371027 0.9999439748
+140 2.8563601181 -2.2018832346 1.8145723314 -0.0069859058 -0.0130361771 0.0004959062 0.9998904986
+152 5.5894820364 -4.6052441174 4.2135439569 -0.0168466013 -0.0257650522 0.0006375882 0.9995258614
+164 4.2994392482 -4.1106242635 5.3799655844 -0.0146472742 -0.0204728864 -0.0003102658 0.9996830608
+176 2.8014394830 -2.6479400682 4.9155411628 -0.0081511839 -0.0136196515 -0.0020180571 0.9998719872
+188 1.9418472799 -1.1940066757 2.7671532159 -0.0021811296 -0.0095524306 -0.0012732136 0.9999511851
+200 2.8724584066 -2.3141965310 2.0816127279 -0.0075374696 -0.0141012101 -0.0005153533 0.9998720302
+212 2.7432056219 -2.7882758503 2.7832239591 -0.0092993067 -0.0139147996 -0.0000603217 0.9998599390
+224 2.4855191767 -2.8235933013 4.5896545795 -0.0090791670 -0.0120925284 0.0001617718 0.9998856501
+236 3.0238488268 -3.9229052101 5.3968925633 -0.0143464963 -0.0141222301 -0.0014267108 0.9997963318
+248 2.0799981863 -3.1617596218 3.5796579725 -0.0109884313 -0.0096640675 0.0005207758 0.9998927887
+260 2.9337917266 -3.0423019786 1.6040600217 -0.0094474006 -0.0133454783 0.0019709617 0.9998643709
+272 5.5618587506 -5.1205556610 3.2261873997 -0.0173633372 -0.0251617680 0.0001034835 0.9995325854
+284 6.2535418981 -5.3690602100 4.8892515253 -0.0174608927 -0.0284322928 -0.0027641403 0.9994393836
+296 2.0575899248 -2.1874538607 4.7658871003 -0.0029968643 -0.0091111136 -0.0022449546 0.9999514821
+305 1.1150630217 -1.0975433760 3.9253251269 0.0012702441 -0.0047750143 -0.0019776729 0.9999858372
+317 2.5561527491 -2.7885770305 2.6390008746 -0.0074444332 -0.0120471671 -0.0018099867 0.9998980799
+329 2.5978352638 -2.8487837775 1.8188601127 -0.0073460143 -0.0128615781 -0.0001590724 0.9998902893
+341 1.1170301447 -2.3995682946 3.0023759877 -0.0041368698 -0.0057373204 0.0006215470 0.9999747913
+353 0.4953403276 -1.9069857454 4.8097592743 -0.0014886728 -0.0023069452 -0.0004421363 0.9999961332
+365 2.8582453006 -3.3699546289 5.1210445867 -0.0084095862 -0.0130171182 -0.0045991520 0.9998693321
+377 1.3637858986 -2.3481277997 3.4514701702 -0.0048959206 -0.0059599854 -0.0026657380 0.9999667006
+389 1.1277131270 -2.4220248327 2.4682052671 -0.0052679856 -0.0045129207 -0.0005850936 0.9999757695
+401 3.6641162851 -3.5988336448 3.2800382918 -0.0092120106 -0.0156885906 -0.0015197911 0.9998333347
+413 5.4502736898 -5.2665447173 5.4205082716 -0.0160513448 -0.0238480478 -0.0023058695 0.9995840675
+425 6.1842685600 -6.9002891907 6.6968271420 -0.0238955197 -0.0270560979 -0.0033821129 0.9993425504
+437 3.5273301416 -4.0597146952 3.9777737894 -0.0119057356 -0.0156073232 -0.0022733673 0.9998047293
+449 2.6739073044 -2.5988527259 1.8536103994 -0.0055032010 -0.0121896666 0.0002863566 0.9999105184
+461 3.5018015967 -3.8615139490 2.3428641418 -0.0098364419 -0.0156944277 0.0006125273 0.9998282623
+473 2.6234645094 -3.0607100767 4.0147513074 -0.0038403014 -0.0117619824 -0.0012465327 0.9999226740
+485 0.5386915783 -1.2301827684 4.6838351957 0.0045909539 -0.0021145394 -0.0009957288 0.9999867301
+497 1.3403285470 -1.9493297305 4.0954627958 0.0006971052 -0.0056848216 -0.0033595958 0.9999779547
+509 3.4827032388 -2.3279849213 2.1279067675 -0.0022865856 -0.0166724606 -0.0068960401 0.9998346089
+521 4.7309334433 -2.7330158679 2.1020361460 -0.0043218637 -0.0218503523 -0.0043409705 0.9997424866
+533 2.2719482351 -2.2047472454 3.8598903235 -0.0016044167 -0.0093431250 -0.0008583688 0.9999546965
+545 1.2025069942 -2.9451836144 6.2117534280 -0.0049853729 -0.0038475319 0.0004373254 0.9999800755
+557 3.8868491852 -5.2617963006 6.2354452479 -0.0154801442 -0.0165378751 -0.0013470004 0.9997424916
+569 3.6699114733 -4.3814465926 3.4903709505 -0.0116043165 -0.0163758643 -0.0023273805 0.9997958563
+581 1.5471732685 -2.2590702247 1.5028249829 -0.0013894975 -0.0070833417 -0.0009154260 0.9999735284
+593 1.9928323511 -2.6059467595 2.6743302641 -0.0018462210 -0.0087269509 -0.0003391963 0.9999601576
diff --git a/iMED_pe/test/session_007_scene_10_circular/K.txt b/iMED_pe/test/session_007_scene_10_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_10_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_007_scene_10_circular/pose.txt b/iMED_pe/test/session_007_scene_10_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8410fbc06c5dd8942b4692f9707e903fa6ea16e2
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_10_circular/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 0.0000000000 1.0000000000
+20 1.2200594470 -3.8642857298 -1.0839479194 -0.0109443951 -0.0079723297 -0.0219137401 0.9996681700
+32 0.3730891798 -6.3313335898 -3.3661464765 -0.0246403037 -0.0119008047 -0.0367259773 0.9989506639
+44 2.4979750005 -6.8879101815 -2.7728825764 -0.0377740392 -0.0288572109 -0.0419579263 0.9979879337
+56 3.0138632978 -4.7119265946 -1.3640148178 -0.0426334746 -0.0312047849 -0.0345729179 0.9980046902
+68 3.5962413775 -3.9401226029 0.0783309558 -0.0489996996 -0.0262884037 -0.0258240675 0.9981187639
+80 5.3453966572 -4.7552365354 0.0193220754 -0.0547118968 -0.0232761325 -0.0201632891 0.9980271899
+92 6.6123414836 -5.9723415018 -0.5377777232 -0.0555414492 -0.0180225726 -0.0175896614 0.9981387369
+104 6.5168335880 -6.9955689885 -1.2146018709 -0.0469602823 -0.0130204513 -0.0159860703 0.9986839567
+116 4.3697375406 -7.0203778262 -1.8159003187 -0.0357123609 -0.0078441694 -0.0143234981 0.9992286694
+128 1.8272677615 -6.0511056083 -1.1387389556 -0.0243770135 -0.0049129651 -0.0132394618 0.9996030916
+140 0.1313393589 -5.3742794233 -1.7530263963 -0.0211886348 -0.0095295179 -0.0170083469 0.9995853871
+152 1.9722790207 -6.1209228027 -2.9590575443 -0.0338374864 -0.0276933724 -0.0244318099 0.9987448064
+164 3.0508462717 -6.3015688877 -3.9076101050 -0.0497603142 -0.0348337707 -0.0296938441 0.9977117796
+176 4.2883924998 -5.3306376210 -3.2235794084 -0.0601917245 -0.0310701196 -0.0338370944 0.9971292068
+188 4.2494025148 -4.3154421117 -0.8882727562 -0.0640029770 -0.0209224194 -0.0300855824 0.9972766562
+200 4.3663143165 -5.3994166906 -0.2746976977 -0.0697175908 -0.0115765343 -0.0200687939 0.9972976912
+212 6.4626663970 -7.6402831531 -0.7804834203 -0.0734674624 -0.0128195196 -0.0140054217 0.9971168638
+224 5.1898463766 -7.7134452788 -1.7158815007 -0.0583164052 0.0010510218 -0.0100903858 0.9982466010
+236 4.1254706863 -6.6151763542 -2.4692431267 -0.0409638032 0.0051510545 -0.0120733783 0.9990744051
+248 4.8542945990 -6.5115997410 -2.5638688063 -0.0340906917 -0.0077374183 -0.0177086738 0.9992318850
+260 3.9999675238 -5.9833229075 -2.3752251769 -0.0344803114 -0.0193742749 -0.0203683557 0.9990099477
+272 2.6556938026 -5.4857422931 -3.0817012284 -0.0402668566 -0.0273551245 -0.0259024831 0.9984785119
+284 2.0559758986 -4.7800668852 -3.3918497942 -0.0492262230 -0.0361728949 -0.0345793758 0.9975332413
+296 0.6503436621 -2.8679866098 -2.4619280650 -0.0558341830 -0.0328024084 -0.0405658489 0.9970762047
+305 1.1645898297 -2.2844716646 -2.0654722596 -0.0636985253 -0.0286504090 -0.0391149260 0.9967906874
+317 2.7261890147 -2.4135508944 -0.6408369427 -0.0686698922 -0.0190442397 -0.0313264320 0.9969656050
+329 4.9244176248 -4.1828829311 -0.4802864093 -0.0683996140 -0.0133887092 -0.0248570468 0.9972584231
+341 5.1825497803 -4.4264401332 -0.8662156145 -0.0632665706 -0.0085715283 -0.0183602675 0.9977909453
+353 5.5758694650 -5.2239194171 -1.0185744215 -0.0537589771 -0.0058120784 -0.0129106753 0.9984535576
+365 4.9057295902 -6.4143335788 -2.4150652008 -0.0434040319 -0.0045371128 -0.0133656588 0.9989578889
+377 6.0926721698 -8.9952628464 -3.5444751051 -0.0462403185 -0.0178820246 -0.0194362389 0.9985811428
+389 4.8288134015 -8.7012870632 -4.7507380534 -0.0459988836 -0.0246390881 -0.0255844532 0.9983097985
+401 3.8991900356 -6.8524945906 -4.4212643891 -0.0438349742 -0.0306408575 -0.0305917060 0.9981000854
+413 3.2111458860 -6.1754215337 -4.2858565613 -0.0481659559 -0.0334154394 -0.0337368613 0.9977100146
+425 3.0078256984 -5.0119330447 -4.0446383989 -0.0580334076 -0.0335152935 -0.0334097325 0.9971923779
+437 2.3049349396 -2.6051349807 -2.7316726225 -0.0600360237 -0.0247636004 -0.0322077560 0.9973690894
+449 1.3616749093 -1.5399943328 -1.8717746936 -0.0624778726 -0.0103112777 -0.0277613698 0.9976068862
+461 4.7263912878 -4.1818550343 -1.8615713790 -0.0710305049 -0.0105947500 -0.0232188599 0.9971475835
+473 7.2506956619 -6.5178339332 -1.9137976747 -0.0721467933 -0.0102474045 -0.0167080500 0.9972014200
+485 7.8162675363 -7.2825200135 -2.4738669637 -0.0654254057 -0.0079283521 -0.0159843837 0.9976979287
+497 4.0346841316 -5.0271654232 -2.6765162562 -0.0432663165 0.0022932893 -0.0119289926 0.9989897226
+509 2.7560355429 -4.6506824444 -2.3786156335 -0.0362153954 0.0001679473 -0.0139804067 0.9992461985
+521 2.4748265635 -3.8182802648 -1.8383158538 -0.0300519436 -0.0109452220 -0.0207207973 0.9992736019
+533 2.0528385926 -4.5678753056 -3.6273212610 -0.0377111333 -0.0187517276 -0.0237346818 0.9988307705
+545 1.0320142293 -4.2596952327 -4.9989165732 -0.0449952754 -0.0264329895 -0.0296603964 0.9981968659
+557 1.5616337199 -3.8445248550 -4.4128843355 -0.0530416677 -0.0363538416 -0.0362116427 0.9972731304
+569 2.1995316339 -2.4711079423 -3.2941974687 -0.0627772596 -0.0391010696 -0.0411917910 0.9964102360
+581 3.8155995699 -1.4424203102 -2.5175836981 -0.0711645457 -0.0392103089 -0.0390441478 0.9959285685
+593 5.3752339932 -2.4608858858 -2.6746208907 -0.0823148415 -0.0373387804 -0.0345713161 0.9953064385
diff --git a/iMED_pe/test/session_007_scene_10_left_right/K.txt b/iMED_pe/test/session_007_scene_10_left_right/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_10_left_right/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_007_scene_10_left_right/pose.txt b/iMED_pe/test/session_007_scene_10_left_right/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..93739521843f501d06c5008656c604587ca923ad
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_10_left_right/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 0.0000000000 1.0000000000
+20 -8.2777255022 -8.0474134328 -5.9571667325 -0.0434790763 0.0384210856 0.0014449946 0.9983142301
+32 -17.9066217034 -18.2140999311 -13.4356918305 -0.0979920082 0.0800593891 0.0035657074 0.9919553147
+44 -22.4214846659 -22.4266614431 -16.0420083884 -0.1214648082 0.0887664070 -0.0030307391 0.9886139995
+56 -20.8480081497 -23.9296106781 -15.7952269427 -0.1274001748 0.0699046849 -0.0087133604 0.9893465560
+68 -22.3194781780 -23.4162575512 -16.8745009092 -0.1239043289 0.0736484723 -0.0127864988 0.9894746714
+80 -23.2638656904 -22.5560075798 -18.4300223532 -0.1190430896 0.0824656059 -0.0120316288 0.9893853681
+92 -18.1136946568 -25.6024409652 -18.9458409355 -0.1313850819 0.0734650530 -0.0029022069 0.9886012459
+104 -17.3412396354 -25.8508577168 -18.5034098937 -0.1316155830 0.0800918403 0.0002424493 0.9880600066
+116 -20.9930189792 -23.7570623345 -18.9148064620 -0.1218027204 0.0992791310 -0.0002537047 0.9875766740
+128 -24.3048391829 -21.7133194677 -18.0805603837 -0.1140696950 0.1079263728 -0.0017262200 0.9875915263
+140 -24.6638604755 -21.6197814749 -16.4423356550 -0.1150091999 0.0968584431 -0.0030159465 0.9886264360
+152 -24.4428325653 -21.6076093219 -16.3701250545 -0.1149629919 0.0873815414 -0.0061663003 0.9894998502
+164 -24.2124716732 -22.4577644079 -17.2234407376 -0.1186053603 0.0823507349 -0.0109275088 0.9894603148
+176 -23.6679222405 -22.1900582286 -18.0662305147 -0.1179004882 0.0850953585 -0.0087993536 0.9893335263
+188 -23.6311846142 -21.7641026918 -18.4328248339 -0.1164905441 0.0976352408 -0.0055042857 0.9883658309
+200 -21.1706437938 -22.7141543384 -17.9816666959 -0.1214346632 0.0977085740 -0.0005984358 0.9877784666
+212 -19.7937896480 -23.1618148352 -17.5187963409 -0.1239022690 0.0941550961 0.0018088065 0.9878156578
+224 -21.2117461864 -22.3985703459 -16.9931579548 -0.1206164931 0.0957405165 -0.0016750717 0.9880701439
+236 -22.6688719245 -21.5921214084 -16.5421373102 -0.1173555453 0.0924329284 -0.0050509319 0.9887660582
+248 -22.4112327650 -21.8699454669 -15.8558528921 -0.1188589363 0.0804434574 -0.0064982026 0.9896257761
+260 -21.3340022047 -22.8148299893 -15.8231037062 -0.1235175731 0.0718787749 -0.0051247121 0.9897224804
+272 -23.3844580559 -22.5530666672 -17.7264467395 -0.1214787769 0.0881864360 -0.0031177123 0.9886639162
+284 -24.1045720244 -22.5074220895 -18.0430979563 -0.1203804762 0.1027477297 -0.0019105331 0.9873944475
+296 -23.0888375984 -22.7957647325 -17.5080065721 -0.1218112712 0.1096565261 0.0037533934 0.9864701579
+305 -21.9242130038 -23.5193709266 -17.3839386077 -0.1247880755 0.1081931432 0.0070966030 0.9862412576
+317 -22.3130439006 -22.8144713983 -18.1894482854 -0.1207954512 0.1081576900 0.0083972638 0.9867319084
+329 -21.2799003680 -24.0855688250 -18.3551868898 -0.1245800106 0.0938986483 0.0002032286 0.9877564596
+341 -22.1004142970 -23.9865840610 -17.5863527795 -0.1241333427 0.0845180773 -0.0068409029 0.9886358328
+353 -19.0259529717 -25.3980980353 -16.8627987852 -0.1296662228 0.0630146021 -0.0098564900 0.9895042598
+365 -18.0186954478 -25.9155391708 -18.5377135983 -0.1311568615 0.0592407626 -0.0108201245 0.9895308659
+377 -21.0083777786 -24.4472369618 -19.7918139373 -0.1250822169 0.0804576698 -0.0060168353 0.9888603542
+389 -22.4078815163 -23.7880367332 -19.3894416102 -0.1234717589 0.0966919497 0.0020470551 0.9876240181
+401 -22.4711821189 -23.0850630988 -18.4944900021 -0.1220689144 0.1048203636 0.0071327956 0.9869452846
+413 -23.7749996243 -21.8632150644 -18.6042895913 -0.1176462804 0.1147568243 0.0073892326 0.9863749912
+425 -19.2145626726 -23.8629258128 -17.3322982193 -0.1275796134 0.0886225593 0.0026194813 0.9878575922
+437 -18.1217765911 -24.9201888632 -17.0096840247 -0.1323860722 0.0716181464 -0.0018860263 0.9886056908
+449 -18.1967376256 -24.9172025354 -16.4857176756 -0.1328151546 0.0598653170 -0.0053551616 0.9893167343
+461 -21.1360607077 -23.1592778062 -16.5383811671 -0.1250090005 0.0678357824 -0.0073423368 0.9898066208
+473 -22.1556164311 -23.6490647202 -16.7631346207 -0.1261490074 0.0769386839 -0.0080547220 0.9889903884
+485 -21.2975611773 -23.8157638199 -17.6090392784 -0.1260395721 0.0856519049 -0.0064687960 0.9882995154
+497 -22.5641081652 -21.1070458789 -17.8159320410 -0.1151975637 0.1024497330 0.0022190501 0.9880428378
+509 -20.8290503480 -21.2870135534 -16.8339653083 -0.1164446992 0.1032715017 0.0058868744 0.9877960183
+521 -21.8230336389 -22.2035969219 -16.6011454128 -0.1200597159 0.1078400478 0.0039012428 0.9868844760
+533 -21.9053981204 -22.8531662583 -16.2732577951 -0.1216540245 0.1030068384 -0.0029232844 0.9872088654
+545 -23.5794611383 -22.0587796604 -17.1603341721 -0.1167029673 0.0962271585 -0.0055204151 0.9884787688
+557 -23.1901619864 -22.2071210668 -17.6386913407 -0.1166863041 0.0846807005 -0.0068718623 0.9895283032
+569 -23.6500698712 -21.1602376265 -16.8175460047 -0.1122457869 0.0852848871 -0.0068259803 0.9899902915
+581 -20.6107943768 -22.9718091032 -17.7598268681 -0.1194139399 0.0820889156 -0.0010982655 0.9894445486
+593 -15.8841033884 -26.9566312625 -19.5164541840 -0.1347417384 0.0744531113 -0.0020200699 0.9880775868
diff --git a/iMED_pe/test/session_007_scene_10_zoom_in/K.txt b/iMED_pe/test/session_007_scene_10_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_10_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_007_scene_10_zoom_in/pose.txt b/iMED_pe/test/session_007_scene_10_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f0a92e79a936ae108fd05cb8d45f62f566ab751f
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_10_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 -0.0000000000 0.0000000000 -0.0000000000 0.0000000000 -0.0000000000 1.0000000000
+17 -2.5269723368 1.6416345468 0.3636122377 0.0070734803 0.0103344788 0.0019083209 0.9999197581
+29 -5.0786807308 2.9087307972 0.3146559677 0.0123042536 0.0197782893 0.0074402987 0.9997009886
+38 -5.8493851340 3.1960861057 -0.9919910845 0.0128099911 0.0221912185 0.0105795707 0.9996156895
+50 -6.1471457634 3.5781622359 -3.1598285452 0.0139757529 0.0221043458 0.0156106227 0.9995360847
+59 -5.8275689232 3.4191088831 -4.3177511594 0.0142436774 0.0209221341 0.0146044699 0.9995729545
+71 -5.3937943278 3.1729223027 -5.1676554073 0.0139368207 0.0195340879 0.0134422863 0.9996216731
+80 -4.6341224152 2.5659093545 -5.1105431492 0.0123459792 0.0170454378 0.0118430750 0.9997083432
+89 -5.2643028855 2.4455421560 -4.0111278689 0.0119793437 0.0195028820 0.0126510383 0.9996579836
+101 -3.8146262464 1.4530075913 -2.8421867782 0.0069406524 0.0135487420 0.0118753767 0.9998135998
+110 -2.1334849616 0.2920764622 -1.4669401851 0.0017085104 0.0071770073 0.0100688991 0.9999220914
+122 -1.8743389734 -0.1286769580 -1.1023346623 -0.0026503531 0.0049044524 0.0125238812 0.9999060328
+131 -0.7806171671 -1.1110258325 -1.3893542267 -0.0070214103 0.0018554588 0.0100314409 0.9999233107
+143 -0.0290625189 -1.2967001421 -2.4215530496 -0.0082071237 -0.0003675372 0.0079790448 0.9999344193
+152 1.8749546222 -1.3701597361 -2.6980291211 -0.0075730441 -0.0060088955 0.0016753494 0.9999518665
+161 1.9609859181 -0.0853970641 -3.0302420619 -0.0019648156 -0.0058428881 -0.0003475204 0.9999809395
+173 1.6955531431 0.4551046290 -3.2792241605 0.0000043632 -0.0055154095 0.0014057724 0.9999838019
+182 1.7122047407 -0.1828048509 -3.2630171495 -0.0026518366 -0.0058028024 0.0009601054 0.9999791865
+194 1.5751525395 -0.0885300471 -2.4729646835 -0.0018911177 -0.0052734096 -0.0003712234 0.9999842384
+203 0.2580900030 0.3771714867 -0.4324614709 0.0006551341 -0.0000685606 -0.0009327404 0.9999993480
+215 -2.5071092367 2.1580083561 1.2930513835 0.0082114492 0.0109742361 0.0008089608 0.9999057375
+224 -4.4814955400 3.2831441277 0.6723109473 0.0127553903 0.0193570805 0.0004257449 0.9997311750
+233 -5.0146181928 3.3732343945 -0.2060650803 0.0126900305 0.0215280767 0.0022175169 0.9996852443
+245 -5.1739139882 3.5166119891 -0.8652804919 0.0129767080 0.0222520750 0.0056318836 0.9996523056
+254 -5.3141177069 3.6809248192 -2.1698877299 0.0133786989 0.0227298193 0.0076647517 0.9996227375
+266 -3.8784701270 2.9571434222 -4.8611563264 0.0099018539 0.0167989416 0.0047068810 0.9997987768
+275 -2.4760796996 2.5052372913 -6.2121071809 0.0085921841 0.0110192248 0.0019846311 0.9999004012
+287 -2.0139324285 2.1071376247 -6.3895717034 0.0077469907 0.0095619560 -0.0000686737 0.9999242713
+296 -3.6182683629 2.2239877561 -5.9632427922 0.0086762835 0.0160270701 0.0030554066 0.9998292452
+305 -4.1093328228 2.3101523694 -5.1511251582 0.0087972778 0.0177238038 0.0039790325 0.9997963002
+317 -2.8893955803 1.4980003899 -3.8476711747 0.0052465984 0.0123829626 0.0032294056 0.9999043486
+326 -3.1831155677 1.9611564601 -3.3095216158 0.0070253705 0.0136840526 0.0033443219 0.9998760955
+338 -2.8289895448 2.7760845006 -2.7769989850 0.0100911487 0.0136119178 0.0005067891 0.9998563035
+347 -3.4872998118 3.9316957073 -2.8350590600 0.0149341685 0.0164136278 0.0010400701 0.9997532104
+359 0.7357360830 1.7592597086 -3.7761537534 0.0056340503 -0.0013897087 -0.0000892413 0.9999831590
+368 2.3978466795 0.5230448287 -4.7720345810 0.0001717513 -0.0083465415 -0.0004743015 0.9999650398
+377 4.5386365592 -1.7214318040 -5.3773391688 -0.0096339422 -0.0167402701 -0.0011568328 0.9998127886
+389 3.8742128541 -2.3366647359 -4.5415047627 -0.0120835382 -0.0137460535 -0.0008254347 0.9998321623
+398 2.6970979027 -0.8408662975 -2.5718791275 -0.0053890101 -0.0095524048 -0.0005546099 0.9999396995
+410 -0.1895388060 2.1165707461 -0.6380742552 0.0069206602 0.0019298352 -0.0007875510 0.9999738796
+419 -1.5193042374 2.3958852660 -0.8926271608 0.0074492616 0.0082974545 -0.0019716007 0.9999358847
+431 -3.6727208779 2.9300960070 -2.1932703435 0.0085426412 0.0180048373 -0.0008163172 0.9998010716
+440 -4.9227548479 3.2400838440 -2.6724310475 0.0096925027 0.0218965525 0.0036749535 0.9997065025
+452 -5.4466477687 3.8009813074 -3.2919679409 0.0137400457 0.0217234150 0.0066701605 0.9996473445
+470 -5.1501439599 3.1236709707 -4.3139126147 0.0104345183 0.0168999088 0.0161839906 0.9996717423
+485 -4.6717468840 2.9103355866 -4.7502676997 0.0085240939 0.0149626012 0.0185122682 0.9996803271
+515 -2.9001727277 3.2835202236 -3.0954358753 0.0095601495 0.0133968870 0.0023080011 0.9998618905
+524 -3.8341960153 3.7773207907 -3.2675626611 0.0106503480 0.0161486861 0.0037074622 0.9998060036
+548 -3.8295291228 1.6338774455 -1.1473618660 0.0029006619 0.0135695282 0.0103794102 0.9998498497
+560 -1.3196430857 0.0168643911 -1.0280925172 -0.0031093647 0.0017681036 0.0119960859 0.9999216467
diff --git a/iMED_pe/test/session_007_scene_11_circular/K.txt b/iMED_pe/test/session_007_scene_11_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_11_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_007_scene_11_circular/pose.txt b/iMED_pe/test/session_007_scene_11_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c635013bf532e24f987fbe06de8672e23eeb61c2
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_11_circular/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 0.0000000000 1.0000000000
+20 -2.3410142025 -1.6896583922 -0.6519081301 -0.0051695822 0.0002606311 0.0036556320 0.9999799217
+32 -3.1786541099 -1.0589518749 -0.1707118671 -0.0046853771 -0.0057934796 0.0008955121 0.9999718401
+44 -3.5264440623 -0.4252476177 -0.3597043845 -0.0094374565 -0.0075690076 -0.0006787755 0.9999265892
+56 -2.7225810570 -0.9008102947 -0.6943868327 -0.0196580752 -0.0097249821 0.0020255240 0.9997574116
+68 -0.0385825094 0.2376883426 0.1307835973 -0.0225732841 -0.0143469201 0.0028376923 0.9996382147
+80 -0.5711536922 1.5508154034 0.3571096901 -0.0171471805 -0.0047615103 0.0003624033 0.9998415729
+92 -3.1742876987 1.8577768511 0.3686414420 -0.0124889551 0.0144519376 0.0022003388 0.9998151459
+104 -5.1001918908 -0.3575310629 -0.0775673829 -0.0134251416 0.0256228583 0.0059225872 0.9995639838
+116 -2.1539194495 -1.9816471092 -1.0404098500 -0.0121554002 0.0125933838 0.0030027271 0.9998423058
+128 -0.1955346635 -3.0567245919 -1.9768225054 -0.0097554175 0.0008772073 0.0038305099 0.9999446932
+140 -3.4628977303 -0.1580835197 -1.3099269076 0.0023236640 0.0051072439 -0.0043953770 0.9999745983
+152 -3.8019964266 0.1983566633 -0.9205202509 0.0012276176 0.0011592771 -0.0071311324 0.9999731476
+164 -3.8161295212 -0.0489578418 -0.6507247903 -0.0072409469 -0.0037016051 -0.0078756100 0.9999359187
+176 -4.9518660566 -0.6494265294 -0.2486841733 -0.0213095372 0.0009928703 -0.0037272113 0.9997654854
+188 -8.3542424629 1.6767239749 1.0879489549 -0.0233325293 0.0212613449 -0.0062068490 0.9994823777
+200 -4.4273283054 2.9006798035 1.2555411450 -0.0211752846 0.0152974558 -0.0093140616 0.9996153477
+212 -0.3220358372 1.2905627075 0.6039737619 -0.0250973119 0.0074851052 -0.0054893389 0.9996419185
+224 -3.7336795547 0.6852365215 -0.4018949545 -0.0194497782 0.0290350377 -0.0064594054 0.9993682749
+236 -5.0212826578 0.1468392610 -1.5309575645 -0.0115493678 0.0340083908 -0.0077933581 0.9993244243
+248 -1.5612953918 -0.6862990201 -1.7527459410 -0.0050218167 0.0158558912 -0.0076068073 0.9998327403
+260 -0.3317221895 0.7131412109 -0.5158046304 0.0075226179 0.0037633849 -0.0132166236 0.9998772765
+272 -3.2324828060 1.9757208231 0.1988772501 0.0100623038 0.0066999715 -0.0147151244 0.9998186463
+284 -5.9589796887 0.6588033450 -0.1233822692 -0.0028622823 0.0114687424 -0.0131551060 0.9998435970
+296 -4.9113119534 -0.8369986405 0.0624371893 -0.0202991635 0.0063551677 -0.0076694706 0.9997443348
+305 -3.0362228831 -1.4769442626 0.2715819980 -0.0291664562 0.0017718474 -0.0045606672 0.9995625937
+317 -3.3159182204 0.0956228727 0.6306030784 -0.0247070367 0.0130218117 -0.0036538701 0.9996032433
+329 -3.6288348556 -0.4476696872 -0.1289227834 -0.0222669113 0.0209877881 -0.0013395300 0.9995308415
+341 -1.5847996949 -1.5305568048 -1.1837802577 -0.0191972148 0.0164724795 -0.0026779302 0.9996764242
+353 -0.4033961723 -2.5376500280 -2.2516191076 -0.0126773067 0.0105967406 -0.0067683626 0.9998405794
+365 -1.1272415709 -2.5067221294 -2.3202972824 -0.0081993303 0.0089549417 -0.0091818292 0.9998841303
+377 -2.0960673152 -1.6388375072 -1.9499193340 -0.0041129368 0.0025569533 -0.0116925544 0.9999199117
+389 -6.3545281518 0.5994168226 -1.0938510238 -0.0039439839 0.0091394232 -0.0146784387 0.9998427173
+401 -6.5868134722 1.8978912636 -0.2408643242 -0.0048582095 0.0089207744 -0.0176259122 0.9997930510
+413 -7.8579473012 2.2185188099 0.6543111326 -0.0166137735 0.0166575245 -0.0142459520 0.9996217096
+425 -8.0355651605 2.2000490206 1.0623339095 -0.0241533127 0.0270449703 -0.0072896123 0.9993157902
+437 -4.5700263203 1.3829512656 0.8457229906 -0.0273247968 0.0214069985 -0.0025850890 0.9993940230
+449 -0.3853662596 -0.0828115848 0.0526770282 -0.0272375084 0.0111420644 -0.0025350948 0.9995636777
+461 0.8950768026 -0.7654469252 -1.2728697528 -0.0162252516 0.0091509261 -0.0070414291 0.9998016904
+473 -1.4640837977 -0.5139843566 -1.3925585539 -0.0068513856 0.0180379167 -0.0108298981 0.9997551727
+485 -2.4161905951 -0.8205293626 -1.3656599485 0.0005807240 0.0152250641 -0.0109380075 0.9998240946
+497 -5.9499194993 0.8664323023 -0.7052675169 0.0097233711 0.0205412045 -0.0174402887 0.9995895914
+509 -7.7283669780 0.7671181015 -0.7888796077 0.0056965888 0.0165711541 -0.0179083577 0.9996860690
+521 -8.7210629236 -0.0309374661 -0.7088424984 -0.0041196558 0.0151799849 -0.0158532056 0.9997506051
+533 -5.1014872048 -2.2120843824 -0.7980083869 -0.0232488618 -0.0030245322 -0.0116312381 0.9996574698
+545 -3.5897579790 -2.1183396390 -0.6604483429 -0.0329262365 -0.0084013662 -0.0123462518 0.9993462113
+557 -5.8425511185 0.4143796911 -0.2755894265 -0.0237738815 0.0115034173 -0.0233026181 0.9993795385
+569 -6.8168537262 1.4060765552 -0.6307688860 -0.0104984757 0.0259653045 -0.0290410459 0.9991857698
+581 -7.5722558270 0.7506194615 -1.5443367745 -0.0013510723 0.0361353995 -0.0303970688 0.9988835897
+593 -4.8300003213 -2.0329268525 -3.5316840582 0.0022092190 0.0248913399 -0.0296976302 0.9992465118
diff --git a/iMED_pe/test/session_007_scene_11_left_right/K.txt b/iMED_pe/test/session_007_scene_11_left_right/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_11_left_right/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_007_scene_11_left_right/pose.txt b/iMED_pe/test/session_007_scene_11_left_right/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..472e2ff6707322eaf44f1d2d04787cdfd6a870c2
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_11_left_right/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 1.0000000000
+20 1.0947392044 -1.1674009340 -0.3874644439 -0.0039332542 -0.0000672231 -0.0008998873 0.9999918576
+32 2.4345008190 -0.4280575057 -0.4368570112 0.0002572851 0.0078326141 0.0024194343 0.9999663646
+44 3.3403461694 1.0161087290 -0.1470106462 0.0068766546 0.0112465239 0.0008387972 0.9999127581
+56 2.0722062136 2.6186405162 0.0613129674 0.0143485356 0.0192344921 -0.0010037892 0.9997115315
+68 0.7721423126 0.8156690120 -0.3837762881 0.0070039525 0.0206917571 0.0018563129 0.9997596461
+80 -0.2867722942 -0.7840982921 -0.9058082213 0.0006409237 0.0217307420 0.0041379150 0.9997550909
+92 -0.5878523678 -2.2538977791 -1.2896654840 -0.0055049447 0.0242929097 0.0072070586 0.9996637477
+104 -0.8184587963 -1.5222217862 -0.9550904964 -0.0027963029 0.0245714778 0.0058854846 0.9996768399
+116 -1.2843066548 0.5282509434 0.2274805300 0.0053537208 0.0212048146 0.0016402008 0.9997594727
+128 -6.5566660972 2.1471223784 0.7815143916 0.0116448213 0.0371749648 0.0020547821 0.9992388093
+140 -11.4568166868 3.0986609562 0.8094156283 0.0156589554 0.0610247600 0.0022056689 0.9980109773
+152 -8.6858786725 1.6570458259 0.0652081719 0.0098542126 0.0567713397 0.0020946653 0.9983363771
+161 -6.1458427703 0.5582109259 -0.3701559587 0.0052045428 0.0503874696 0.0031293421 0.9987112810
+173 -1.7119243356 0.0755717927 -0.7283034822 0.0029954858 0.0363738151 0.0061337125 0.9993149405
+188 4.0344719322 0.0953039023 -0.6908208323 0.0026089266 0.0075358947 0.0042721322 0.9999590755
+200 2.2428168413 0.1172354667 -0.7374997587 0.0024531686 0.0051688104 0.0019055982 0.9999818169
+212 -2.8787314474 -0.9949112082 -0.9721508799 -0.0024430830 0.0234037864 0.0042476384 0.9997140850
+224 -4.3086083768 -1.3443393944 -0.7067344779 -0.0038091612 0.0350366081 0.0066264575 0.9993568014
+236 -2.6199231509 -1.3883442507 -0.4295855107 -0.0032218533 0.0380654366 0.0090338492 0.9992292188
+248 -0.6866638134 -2.1700348655 -1.1554085705 -0.0060285195 0.0311550438 0.0116408673 0.9994285919
+260 -0.3183429059 -1.8304126681 -1.1199695727 -0.0043717046 0.0257258834 0.0104886923 0.9996044490
+272 -3.0263264316 -1.6766412308 -1.4468161563 -0.0038373785 0.0258591137 0.0061773711 0.9996391453
+284 -3.2628069789 -1.6600266278 -1.2920015397 -0.0036594932 0.0198821363 0.0014605018 0.9997945667
+296 -3.4127928091 -0.9482907020 -0.8603277907 -0.0002440852 0.0199044221 0.0002257269 0.9998018321
+308 -1.8987597296 -0.9637863528 -0.5263323809 -0.0001120184 0.0202110277 0.0037884773 0.9997885523
+320 -0.5968957883 -1.6667898448 -1.1990302861 -0.0029893173 0.0227702437 0.0089858701 0.9996958708
+332 1.2070817244 -3.4982384112 -2.0383349068 -0.0110052078 0.0216658175 0.0105938906 0.9996485619
+344 -1.1564428963 -3.1653092449 -1.8272985787 -0.0104693825 0.0282093096 0.0091387075 0.9995054332
+356 -1.4529134890 -1.0466399862 -0.6394926075 -0.0022589922 0.0235147481 0.0028496328 0.9997168765
+368 -0.3394360145 -0.0604174196 0.3221852098 0.0020993109 0.0156321108 -0.0023878792 0.9998727559
+380 2.6642142270 0.4545929061 0.2140109944 0.0041417941 0.0042721351 -0.0050140421 0.9999697264
+392 1.1441992425 -0.2383655945 -0.7517477430 0.0012995742 0.0140388331 0.0005243259 0.9999004687
+404 -1.7431027209 0.0608212652 -1.2250027855 0.0021990451 0.0338440018 0.0079260412 0.9993932788
+416 -2.2662276082 0.6405886988 -0.7810852893 0.0045517625 0.0361888100 0.0061075334 0.9993159408
+428 -1.2596169637 0.0981208163 -0.4713559355 0.0020944982 0.0277027165 0.0046845478 0.9996030350
+440 0.9206703017 -0.3886396820 -0.0553629170 -0.0001611398 0.0093879914 0.0007594157 0.9999556305
+449 1.4238001328 -1.5624922603 -0.3333705884 -0.0055665393 -0.0011293787 0.0030852989 0.9999791093
+461 1.0258650973 -2.0094360964 -0.7043797723 -0.0072006137 -0.0022445838 0.0052760249 0.9999576374
+473 0.5427401199 -1.5571558896 -1.6742307024 -0.0038966687 0.0080103327 0.0001180764 0.9999603175
+485 -1.4449718256 1.0101795102 -1.3579956056 0.0071920789 0.0270299025 -0.0018642090 0.9996070143
+497 -2.3460744534 0.8156047970 -0.8527857256 0.0064368029 0.0363319306 0.0028888842 0.9993148717
+509 -4.2400241833 0.9509008249 -0.6788059903 0.0072392969 0.0424106460 0.0043873616 0.9990644027
+521 -3.0190456736 0.5922839858 -0.2176598145 0.0053316042 0.0313866675 0.0034608310 0.9994871053
+533 -2.3509952582 -0.1215139660 -0.2781719064 0.0017129602 0.0219184117 0.0026248066 0.9997548496
+545 -0.1245257997 -1.9713187929 -0.8667417733 -0.0069810416 0.0064192585 0.0052401831 0.9999412976
+557 -0.3664215909 -0.6783354129 -0.9368296211 -0.0017407061 0.0125258754 0.0061936238 0.9999008508
+569 0.6482361661 0.6903578042 -1.0614898065 0.0039201826 0.0195588447 0.0059148010 0.9997835260
+581 0.7463805864 -0.3601522075 -1.7234169056 -0.0007235282 0.0251472607 0.0096508558 0.9996369105
+593 -0.4046233531 -0.8690315481 -1.6043337043 -0.0031859461 0.0314060287 0.0125081911 0.9994233619
diff --git a/iMED_pe/test/session_007_scene_11_zoom_in/K.txt b/iMED_pe/test/session_007_scene_11_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_11_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_007_scene_11_zoom_in/pose.txt b/iMED_pe/test/session_007_scene_11_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..31d804d8a09a6f4df3d3d4c554bafc0277edda8a
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_11_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 1.0000000000
+14 -0.6367405793 0.1414391437 -0.4037542044 0.0002027690 0.0015944232 0.0007693485 0.9999984124
+23 -1.5523051198 -0.6103031964 -1.2930488218 -0.0036092474 0.0038571000 0.0006536382 0.9999858343
+29 -1.0469947280 -0.5543667079 -1.5610825919 -0.0038014701 0.0012384635 0.0005059462 0.9999918795
+35 -0.3830052026 -0.2345224296 -2.0792048144 -0.0030603753 -0.0019341777 -0.0000512055 0.9999934452
+44 -1.1134680642 -0.5580250124 -3.0012333423 -0.0043577457 0.0005884502 -0.0002840105 0.9999902915
+50 -0.3035839645 -0.3212310173 -2.7694163324 -0.0028524432 -0.0025773450 0.0000761416 0.9999926075
+56 0.2619822452 -0.3996586611 -2.4712495616 -0.0028553593 -0.0046452063 0.0000815424 0.9999851311
+62 0.2845177554 -0.6416723477 -2.0170295321 -0.0033045438 -0.0040676764 0.0001656547 0.9999862532
+71 -0.2351389577 -0.7136513566 -0.4918584122 -0.0022078889 0.0004526426 -0.0012861655 0.9999966331
+77 1.0048457463 -0.2792979839 0.5938877433 0.0001671569 -0.0030324388 -0.0042534159 0.9999863423
+83 1.9166848718 0.1741749977 1.1506038914 0.0020238614 -0.0058069534 -0.0064917545 0.9999600194
+92 2.2841912322 1.0280942758 1.6913867214 0.0052678412 -0.0058466536 -0.0082040043 0.9999353783
+98 2.9116953850 1.1006372548 1.6780844504 0.0053487671 -0.0082370215 -0.0090859865 0.9999104895
+104 3.4573550386 0.9479655069 0.7795390815 0.0034139797 -0.0118204490 -0.0078327611 0.9998936291
+113 2.3043211393 -0.2124498691 -1.0281247896 -0.0030953156 -0.0103064711 -0.0018970071 0.9999402967
+119 2.3537142232 0.2874391016 -1.5510471854 -0.0014341483 -0.0115067490 -0.0036708042 0.9999260288
+125 2.3690588985 0.7110338726 -2.3735512385 -0.0002526088 -0.0130281543 -0.0047283622 0.9999039184
+134 3.8738652710 0.6773891374 -3.1263037220 -0.0004253948 -0.0207436258 -0.0048642065 0.9997729045
+140 4.5960768632 0.7276047299 -3.1374179183 0.0000858848 -0.0241116714 -0.0063170009 0.9996893094
+146 4.4857916890 -0.1821794449 -3.2744203022 -0.0031037550 -0.0244501887 -0.0050717688 0.9996833659
+152 3.4938297044 -2.1225637787 -3.0848777485 -0.0101812896 -0.0211345678 -0.0016971401 0.9997233573
+161 3.6256370308 -4.2253469630 -2.0504092821 -0.0168055295 -0.0213919518 0.0002727848 0.9996298736
+167 3.5447724196 -4.8253439365 -1.4116660930 -0.0185826748 -0.0205307306 0.0008215398 0.9996161755
+173 3.5734407447 -5.2709216081 -0.9384434857 -0.0197649157 -0.0204188777 0.0004879585 0.9995960081
+182 2.8975295888 -5.9989379923 -0.6392301387 -0.0221852287 -0.0173989114 0.0022577818 0.9995999179
+188 1.4119198738 -5.7634726629 -0.5873635426 -0.0211888946 -0.0111877773 0.0026581856 0.9997093570
+194 0.5932594620 -4.8245073755 -0.9929287925 -0.0176510764 -0.0080957011 0.0026041087 0.9998080404
+203 1.0726989158 -3.0804975176 -1.6961874119 -0.0115693753 -0.0113012977 0.0034944767 0.9998631001
+209 2.0406108177 -1.7625048861 -2.2198773591 -0.0069363387 -0.0161403014 0.0031432164 0.9998407364
+215 2.2866920843 -1.2806870483 -2.8064698136 -0.0054526881 -0.0177727102 0.0024943166 0.9998240732
+221 2.1344995830 -1.1705785093 -3.2763363276 -0.0052855029 -0.0176250896 0.0019778388 0.9998287392
+230 0.7008078610 -0.8199868620 -4.0004397960 -0.0039254973 -0.0121607398 -0.0001502184 0.9999183388
+236 -2.4815549280 0.0050655540 -4.8335101896 0.0001901356 0.0006349873 -0.0023704361 0.9999969708
+242 -4.4597551889 0.1289148275 -4.7031601891 0.0021682484 0.0087033740 -0.0033269315 0.9999542397
+251 -5.0297662607 -0.2536359440 -3.9029895464 0.0020586402 0.0113302757 -0.0034395443 0.9999277756
+257 -4.6057263677 -0.4058369888 -3.4290434334 0.0020864902 0.0097015315 -0.0026222476 0.9999473239
+263 -2.9292432703 -2.4285970788 -2.5342968267 -0.0056210899 0.0028719855 0.0009554186 0.9999796209
+272 -2.5967656180 -4.1434173514 -1.0921807792 -0.0129038375 0.0031043850 0.0035200516 0.9999057271
+278 -2.4353378522 -2.9727287234 -0.7902575652 -0.0086383992 0.0034736789 0.0016981201 0.9999552130
+302 -1.8609372446 -0.6668965424 -3.0320931852 -0.0002697163 -0.0009186692 -0.0016205262 0.9999982286
+314 0.2070879577 -1.6472963516 -2.3957628625 -0.0029961491 -0.0102828611 -0.0008049587 0.9999423173
+335 -2.1860480832 -1.8485933588 -3.1281117679 -0.0036936282 -0.0022723972 -0.0022298567 0.9999881105
+347 -1.7318898158 -1.8637940100 -3.1000504428 -0.0027964704 -0.0053707317 -0.0039417803 0.9999738983
+368 -3.4084702372 -1.8284982758 -3.2787928315 -0.0036561907 0.0022448613 -0.0046134245 0.9999801544
+536 -5.5992859472 0.5448997421 -5.5687841415 0.0089058315 0.0134172578 -0.0077172381 0.9998405411
+548 -6.7229490584 -0.9823136284 -4.9604570648 0.0039612938 0.0174798549 -0.0051200623 0.9998262588
+560 -3.0230225959 -1.7168669479 -4.3787348224 0.0013056943 0.0030358849 -0.0037974071 0.9999873291
+581 0.1305253000 0.5857645357 -2.1596516129 0.0136037644 -0.0097552270 -0.0067458684 0.9998371199
+593 0.2481910640 -1.9607389485 -2.9747898673 0.0036835924 -0.0130679864 -0.0021006886 0.9999056185
diff --git a/iMED_pe/test/session_007_scene_5_circular/K.txt b/iMED_pe/test/session_007_scene_5_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_5_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_007_scene_5_circular/pose.txt b/iMED_pe/test/session_007_scene_5_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..794b048276b3a08f10008d2b51755030acaf6557
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_5_circular/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 0.0000000000 0.0000000000 -0.0000000000 0.0000000000 -0.0000000000 1.0000000000
+20 1.7223091955 -2.9001728530 0.5361472039 -0.0081936010 -0.0100194421 0.0049971740 0.9999037473
+32 1.2779999160 -3.7701755129 0.7076234630 -0.0087100177 -0.0141244928 0.0041031660 0.9998538885
+44 0.0001185921 -2.4476244678 0.4131776323 0.0007613096 -0.0135291584 0.0040643675 0.9998999266
+56 -0.6474199820 -1.1546835182 -0.0925872989 0.0033758060 -0.0129857961 0.0038988120 0.9999023814
+68 -0.5410370326 -1.0182377596 -0.8684592603 -0.0039440296 -0.0152732258 0.0067281838 0.9998529416
+80 -1.6634570499 1.1577446564 -1.7415365524 -0.0044304930 -0.0100537961 0.0071665468 0.9999139626
+92 0.1383977250 0.3859689901 -2.1226785945 -0.0192855370 -0.0116557440 0.0067175412 0.9997235049
+104 0.7480004754 1.0378072119 -2.6953599681 -0.0155746039 -0.0091514446 0.0063985746 0.9998163536
+116 0.6668212443 1.2339838206 -2.6384585280 -0.0063723637 -0.0065203892 0.0070905789 0.9999332984
+128 0.5872368343 0.1112077410 -1.8778068338 -0.0027625935 -0.0036935616 0.0093234305 0.9999458982
+140 0.6615668153 -1.7414214744 -1.2831134320 -0.0034026956 -0.0045573899 0.0114801766 0.9999179253
+152 0.1651843071 -3.1573984154 -0.7710426074 -0.0032133492 -0.0086026755 0.0126156073 0.9998782500
+164 -0.4540411762 -2.4793615365 -1.0182579448 0.0042883890 -0.0122445683 0.0137748291 0.9998209511
+176 -0.0383251066 -0.9561896948 -2.1741380590 0.0101579852 -0.0154265429 0.0141740295 0.9997289303
+188 0.0479541176 -0.0676599485 -3.6325762803 0.0078463724 -0.0166576970 0.0140341299 0.9997319635
+200 -0.1118529187 0.2040984516 -4.7717291495 0.0020871329 -0.0175781563 0.0143619712 0.9997401593
+212 -0.1281275063 0.3578545586 -4.5147137516 -0.0033230030 -0.0150383807 0.0131595626 0.9997947943
+224 0.9209556399 0.5080170816 -4.8664342839 -0.0061962984 -0.0110515215 0.0108228025 0.9998611587
+236 1.0037314289 0.7785280599 -4.8654722401 -0.0034500315 -0.0049185596 0.0111740820 0.9999195192
+248 -0.0717176820 1.2352684439 -4.3377037394 0.0050322612 0.0048442540 0.0126651614 0.9998953961
+260 0.0131542584 0.5761404148 -4.0991505086 0.0111125450 0.0053642141 0.0135926756 0.9998314737
+272 -1.7537484938 -0.3478896167 -3.1526075065 0.0182174550 0.0111729143 0.0179995630 0.9996095768
+284 -1.6770709561 -0.2651429504 -3.5614572709 0.0269440361 0.0046700385 0.0175634956 0.9994717271
+296 -0.3496288205 -1.6919594730 -3.8527249687 0.0222127954 -0.0089360933 0.0187575748 0.9995373386
+305 -0.3653974212 -1.8237557290 -3.8107683817 0.0202354336 -0.0111074898 0.0187462331 0.9995577670
+317 -1.3517557669 -0.2231601403 -4.4440767212 0.0210574382 -0.0064871813 0.0178675812 0.9995975442
+329 -1.7365157614 -0.1062878937 -5.3614599893 0.0126404416 -0.0051959921 0.0182999343 0.9997391326
+341 -0.1285250994 -1.0745949955 -5.9635277042 -0.0007345571 -0.0110730631 0.0146541044 0.9998310382
+353 -0.4198435942 -0.0527038019 -5.3667235096 -0.0011019476 -0.0011453366 0.0141194083 0.9998990530
+365 -0.3787869546 0.8243133498 -4.6106434937 0.0041276348 0.0055666336 0.0149499575 0.9998642278
+377 0.1665613326 0.8002879953 -4.2190107016 0.0098244245 0.0069389602 0.0142133013 0.9998266418
+389 -1.1037749486 0.9822694910 -3.2942078243 0.0200782306 0.0140076419 0.0155591629 0.9995791930
+401 -1.6497307705 0.5189572899 -2.5269820457 0.0261405615 0.0133435509 0.0177738277 0.9994111825
+413 -1.3880942982 -0.2214986304 -2.5646926075 0.0299526845 0.0064169587 0.0182386302 0.9993643038
+425 -2.8618778964 0.0438779892 -2.8974523251 0.0398582501 0.0065967664 0.0200182927 0.9989830181
+437 -2.3821389622 -0.9026394600 -4.0065346578 0.0370188558 0.0006800539 0.0220244708 0.9990716013
+449 -0.5174725142 -0.9272055292 -5.4378843258 0.0301545354 -0.0094680952 0.0207615766 0.9992847523
+461 0.2386193103 -1.2418195909 -5.8164185228 0.0166598254 -0.0130654494 0.0169169189 0.9996327136
+473 -1.0693238047 1.7150266803 -5.6227912920 0.0224428610 -0.0011490370 0.0106772302 0.9996904493
+485 0.5044529390 0.5531110195 -5.7462425010 0.0123728765 -0.0031873538 0.0088179958 0.9998794906
+497 1.5366223443 -0.3423070991 -5.4554935013 0.0098398411 -0.0013018246 0.0102372721 0.9998983354
+509 2.0058797716 -0.9733077514 -5.1039307461 0.0125889355 0.0032356263 0.0134600788 0.9998249225
+521 0.7865968922 0.0359640802 -4.6778110909 0.0258787542 0.0117172921 0.0149767495 0.9994842130
+533 -0.9191880861 -0.2037158629 -3.8799468530 0.0370096004 0.0172531440 0.0180778761 0.9990024069
+545 -0.4054064420 -1.4788501048 -3.8800435599 0.0350542339 0.0099150146 0.0201053718 0.9991339586
+557 -1.0581271396 -1.3871217101 -4.0120515983 0.0348190193 0.0042233750 0.0208523247 0.9991671430
+569 -0.9887896819 -1.4826141923 -4.3511039797 0.0286577041 -0.0049248395 0.0232066308 0.9993077275
+581 -1.1606216102 -0.9687991376 -4.7329778948 0.0231727044 -0.0077662703 0.0244228432 0.9994029395
+593 -1.6321619906 0.3370283489 -5.1864878230 0.0209492282 -0.0058607887 0.0233145438 0.9994914772
diff --git a/iMED_pe/test/session_007_scene_5_left_right/K.txt b/iMED_pe/test/session_007_scene_5_left_right/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_5_left_right/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_007_scene_5_left_right/pose.txt b/iMED_pe/test/session_007_scene_5_left_right/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b526cd98115f705cf2db0dfcbdce5ed8c7c6feb4
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_5_left_right/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 -0.0000000000 0.0000000000 -0.0000000000 0.0000000000 1.0000000000
+20 -0.5027891124 -0.1339783849 0.0161021223 -0.0000976156 0.0042166967 -0.0006803658 0.9999908735
+32 -0.5761583501 0.0604293535 -0.1769049104 0.0009775964 0.0009036733 -0.0003532473 0.9999990514
+44 -1.7260010368 0.7199505529 -0.1708338755 0.0022997461 -0.0012415476 -0.0013190990 0.9999957148
+56 -1.6307176193 0.0945988534 0.1911236858 -0.0038664360 -0.0045003021 0.0000176483 0.9999823987
+68 -1.3388074217 0.0471710228 0.5543697463 -0.0053348311 -0.0056895508 0.0003759429 0.9999695132
+80 0.0527687511 -0.3883662376 0.9743260357 -0.0054684630 -0.0063965657 0.0004648617 0.9999644813
+92 0.1826713935 -0.0964922817 1.1200080735 -0.0015594248 0.0007380353 0.0000853964 0.9999985081
+104 -0.6516748965 0.6623186802 0.9429431660 0.0030364749 0.0043254625 -0.0004453001 0.9999859359
+116 0.4621203997 0.2487554995 0.2120854864 -0.0001012223 -0.0097884732 -0.0007436337 0.9999518101
+128 -0.5606243232 0.3528034085 0.1748778821 -0.0026210411 -0.0097026206 -0.0020202695 0.9999474525
+140 -3.0926376530 1.8760072709 0.7069907167 0.0030398923 0.0025502290 -0.0009482747 0.9999916780
+152 -0.3255315971 0.5311890010 0.3336767941 -0.0020118583 -0.0092780691 -0.0005779463 0.9999547669
+164 0.9339443311 -0.5894749589 0.6425856886 -0.0051494664 -0.0071968542 -0.0004814280 0.9999607275
+176 0.4233458551 0.2640421718 0.9392984138 0.0012640273 -0.0000143355 0.0005401842 0.9999990551
+188 -0.3745896835 1.1707442941 0.8711465097 0.0069786250 0.0007330019 0.0021742089 0.9999730168
+200 -1.2750182225 1.5011194787 0.5791525193 0.0076658429 -0.0028422645 0.0008793923 0.9999661910
+212 -0.8739185149 0.2305490768 0.6245371550 -0.0010694977 -0.0088425454 0.0012374718 0.9999595663
+224 0.1714828238 -1.1451579551 0.8563520360 -0.0079602987 -0.0121429594 0.0029934999 0.9998901045
+236 0.1385214398 -0.9584344393 1.1059757499 -0.0049952208 -0.0043343806 0.0020917812 0.9999759424
+248 -0.2793073989 0.1094853377 1.7882728853 0.0030498820 0.0063107175 0.0026214727 0.9999720001
+260 -0.4099347729 -0.4056322848 2.4357812590 0.0028622132 0.0117223136 0.0045582701 0.9999168052
+272 0.3079658834 -0.9359786824 1.9682417429 -0.0004995505 0.0013301811 0.0043030032 0.9999897326
+284 0.4040026149 -1.8189212393 1.1292983961 -0.0076927660 -0.0101254254 0.0017799207 0.9999175611
+296 -0.9727749928 -0.9432420987 0.9622721974 -0.0050277126 -0.0086551598 0.0020609896 0.9999477800
+305 -0.7483384793 -0.2933138402 0.9351216129 -0.0023386213 -0.0096407222 0.0022926463 0.9999481642
+317 0.4606458943 -0.9651498828 1.4785104263 -0.0056582173 -0.0099845816 0.0029696203 0.9999297346
+329 0.6499460897 -0.8946159607 2.1222837818 -0.0038326677 -0.0024452460 0.0038577104 0.9999822246
+341 0.4996681454 -0.0675503884 2.2825503441 0.0023028419 0.0036738073 0.0044320861 0.9999807782
+353 -0.2360080828 0.3142055289 2.0869739593 0.0039173244 0.0054634441 0.0013657359 0.9999764698
+365 0.2644086427 -0.8816944022 1.6774028535 -0.0044865904 -0.0052474687 0.0016107359 0.9999748697
+377 -0.3649772941 -0.8928399392 1.4537542237 -0.0071540069 -0.0094178540 0.0014732597 0.9999289743
+389 -0.3328513292 -1.7489238744 1.5454697922 -0.0142486790 -0.0119327634 0.0001199788 0.9998272700
+401 0.1090930981 -1.0994799831 1.7089998543 -0.0093208269 -0.0102289598 0.0023186248 0.9999015524
+413 2.2038667107 -3.3552318924 1.7677667725 -0.0175999716 -0.0117634999 0.0028140953 0.9997719450
+425 2.9948285524 -4.4768896540 1.8734343401 -0.0207431029 -0.0092802845 0.0021443570 0.9997394669
+437 0.0962663574 0.2148299105 1.9721272508 0.0057322318 0.0056305208 0.0025418626 0.9999644882
+449 -0.3956415425 -0.3035496695 2.0225777224 0.0028489046 -0.0006821528 0.0050539325 0.9999829379
+461 -0.6861279545 -1.9219507265 1.6273504888 -0.0072335222 -0.0066820545 0.0053517595 0.9999371905
+473 -0.8051124498 -0.9854363103 0.6636394293 -0.0043654382 -0.0107336629 0.0021130470 0.9999306308
+485 -0.2118291365 -0.9901417729 1.1437927883 -0.0035552635 -0.0118765266 0.0018843917 0.9999213756
+497 0.6344862605 -0.9303038326 1.8028487263 0.0011064141 -0.0068110176 0.0041878901 0.9999674232
+509 1.0807636847 -2.0828468274 2.4631087851 -0.0017557157 -0.0007069145 0.0048572526 0.9999864123
+521 -0.0433136524 -1.0189116121 2.5207779421 0.0051706999 0.0075254372 0.0042357691 0.9999493437
+533 -0.8643616059 0.4144488094 2.0920759972 0.0117408852 0.0047806964 0.0034492439 0.9999136959
+545 -0.6397001119 -0.6681423216 1.9366392858 0.0022913150 -0.0061616262 0.0047664821 0.9999670319
+557 -1.0971480503 -0.4073468074 1.5124556810 0.0002732240 -0.0089682118 0.0041336450 0.9999512036
+569 -0.0831032388 -0.8157464708 1.7709181264 -0.0026226492 -0.0110088722 0.0047961736 0.9999244587
+581 1.2727960522 -1.8300579019 2.6167376225 -0.0063390178 -0.0071738248 0.0065580165 0.9999326705
+593 2.1034718181 -3.4226357693 3.2457145112 -0.0131730862 -0.0046756183 0.0067571278 0.9998794675
diff --git a/iMED_pe/test/session_007_scene_5_zoom_in/K.txt b/iMED_pe/test/session_007_scene_5_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_5_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/test/session_007_scene_5_zoom_in/pose.txt b/iMED_pe/test/session_007_scene_5_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dfbf97a32a35bc028b55f82a5a47fd9a47e8740d
--- /dev/null
+++ b/iMED_pe/test/session_007_scene_5_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 -0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 0.0000000000 1.0000000000
+17 -1.1717711231 0.6238699200 0.8048583691 0.0041276465 0.0049269790 -0.0001862437 0.9999793261
+23 -2.3124465302 1.3277457922 1.5868160729 0.0082037225 0.0104993751 0.0005608414 0.9999110698
+32 -2.1894145411 1.3955036711 2.1726190739 0.0078272639 0.0088872985 -0.0011959877 0.9999291572
+38 -1.5506881355 1.1316085988 2.4811142585 0.0056078217 0.0049336036 -0.0026375760 0.9999686271
+47 -0.6631888450 0.3035198500 3.0513356964 0.0002648645 -0.0001914144 -0.0033703324 0.9999942670
+56 -0.8082216233 0.3292607432 3.1719937857 -0.0002651825 0.0004512587 -0.0040942326 0.9999914816
+62 -1.3988209860 1.3912511785 3.0393310064 0.0051306994 0.0038453322 -0.0039007315 0.9999718364
+71 -1.9086655970 2.8209359359 2.5922010581 0.0126484861 0.0073657965 -0.0033852831 0.9998871440
+77 -1.5894309878 2.6739506464 2.1788297457 0.0120600051 0.0062178581 -0.0031969392 0.9999028323
+86 -1.6239065342 2.8320196075 1.6792460659 0.0133065217 0.0073713158 -0.0021983861 0.9998818767
+95 -1.3834045482 2.6970770983 0.7582234319 0.0127030920 0.0069769415 -0.0019437215 0.9998930821
+101 -0.8795406811 2.3563937412 -0.0502913871 0.0108900503 0.0049441396 -0.0023949205 0.9999256106
+110 -0.1633557009 2.2993324614 -0.9904189776 0.0107585022 0.0020134610 -0.0026613816 0.9999365568
+116 0.1853642433 1.9954488123 -1.4701809769 0.0094887683 0.0005869812 -0.0025683208 0.9999515101
+125 -0.1124318780 1.0283006315 -1.2540310894 0.0048097687 0.0021020873 -0.0017457784 0.9999846997
+131 -0.1617914967 1.2021576553 -0.9946954012 0.0057872003 0.0015498956 -0.0024236472 0.9999791158
+140 0.6077430327 1.3110650239 -0.6515973288 0.0066879249 -0.0041663831 -0.0026647894 0.9999654053
+149 -0.6528855480 0.8399962625 0.9409304323 0.0041263960 0.0022325223 -0.0011268901 0.9999883593
+155 -1.2806457193 0.6881389939 1.7429799885 0.0029375135 0.0052773785 -0.0011928040 0.9999810486
+164 -0.8107125353 0.9439957881 1.9960702356 0.0040849253 0.0016157041 -0.0020960597 0.9999881546
+170 -0.9953819129 1.5373980032 2.5187186614 0.0069301481 0.0018370788 -0.0030142148 0.9999697559
+179 -1.9341126404 1.7347306392 3.3840515780 0.0076369362 0.0062160971 -0.0031275185 0.9999466266
+188 -1.1961523250 0.6068121106 3.2141637449 0.0018751998 0.0023103202 -0.0028588280 0.9999914865
+194 -0.2010876289 0.0134826234 2.6573159064 -0.0007933845 -0.0025692678 -0.0026582051 0.9999928516
+203 0.2545003495 0.2879837362 1.6372747366 0.0017284791 -0.0040724976 -0.0018875108 0.9999884321
+209 -0.8590499577 0.8393048084 1.3811972453 0.0054576480 0.0026639277 -0.0007822261 0.9999812527
+218 -2.2760932576 1.9660509256 0.7342097642 0.0124043771 0.0113371629 0.0002967694 0.9998587461
+227 -1.2917619356 1.6787940368 -0.5102626331 0.0110373264 0.0064233696 -0.0009990653 0.9999179564
+233 -0.1313846311 0.3417966638 -1.3013467305 0.0039053885 0.0005743812 -0.0017093572 0.9999907480
+242 0.3618344708 -0.3924069942 -1.6151488790 0.0001093786 -0.0015595217 -0.0012184691 0.9999980356
+248 0.1619790022 0.0579577808 -1.6501812266 0.0027266901 -0.0005267574 -0.0005808311 0.9999959752
+257 -0.0616230938 0.7409739461 -1.4671500758 0.0064634123 0.0000220421 -0.0012451327 0.9999783365
+266 -0.3339963543 0.9377589273 -0.8582829035 0.0068071295 0.0000427266 -0.0034212775 0.9999709776
+272 -0.4894833164 1.1897587853 -0.2949135899 0.0074466730 0.0002800480 -0.0035447264 0.9999659512
+281 -1.4287303480 2.2050533302 0.6584850965 0.0122140616 0.0050145605 -0.0032448929 0.9999075665
+287 -1.9140307778 2.2757589103 1.2780159603 0.0124074299 0.0072404493 -0.0030413684 0.9998921850
+296 -1.5862408159 1.2806308948 2.0963273245 0.0064436213 0.0045723773 -0.0022643205 0.9999662224
+302 -1.4700472034 1.0368216821 2.5724718340 0.0043079194 0.0033410315 -0.0027824163 0.9999812686
+311 -1.7045567910 1.9124409783 2.9087215445 0.0078919792 0.0043032595 -0.0038124090 0.9999523309
+320 -1.3134243580 2.4158602090 2.2934598879 0.0102801570 0.0029577003 -0.0034493252 0.9999368343
+329 -1.0837126539 2.6976607093 0.8653005611 0.0123466334 0.0031273161 -0.0030784093 0.9999141483
+341 -1.4573774215 4.0161452695 -1.3252942974 0.0206437789 0.0077371324 -0.0020425698 0.9997548695
+359 -0.0725305994 1.7417036822 -1.7759798660 0.0111332981 0.0013551656 0.0003039122 0.9999370584
+398 -1.9502437438 1.8707657332 1.0357976181 0.0115111716 0.0060864435 -0.0027994119 0.9999113018
+416 -1.8269785463 2.2760799492 -0.5823254016 0.0136932769 0.0090944930 -0.0013012309 0.9998640363
+437 -1.1081542797 1.5326907061 2.4983963149 0.0093069127 -0.0003329233 -0.0014428778 0.9999555933
+536 -0.6779870652 1.7308380839 -0.0821140217 0.0145549728 -0.0002633379 -0.0005773988 0.9998938694
+548 -1.0370825448 0.7585727779 2.7949435306 0.0079168827 -0.0018810368 -0.0016196930 0.9999655800
+590 -1.7674251834 -1.2341775435 5.1916912574 -0.0041872404 0.0016203643 -0.0009423565 0.9999894766
diff --git a/iMED_pe/train/session_004_scene_1_circular/K.txt b/iMED_pe/train/session_004_scene_1_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f140f2d82c21048b19ad046665e0a7812e87d59f
--- /dev/null
+++ b/iMED_pe/train/session_004_scene_1_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1033.3860978293 0.0000000000 615.3035648109
+0.0000000000 1032.5533163688 505.2699727155
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1036.2458860814 0.0000000000 704.0320236146
+0.0000000000 1034.4468447603 505.9145908601
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1039.5010572364 0.0000000000 565.5091746366
+0.0000000000 1040.0475664751 532.1105243640
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1044.2533169984 0.0000000000 657.6717564931
+0.0000000000 1040.2221528764 531.9170728122
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/train/session_004_scene_1_circular/pose.txt b/iMED_pe/train/session_004_scene_1_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..437e6ca2afa234ea5cb4d5bb0585c48865a46001
--- /dev/null
+++ b/iMED_pe/train/session_004_scene_1_circular/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 0.0000000000 0.0000000000 -0.0000000000 0.0000000000 -0.0000000000 1.0000000000
+20 0.7732071824 -0.5334732172 0.1680764108 0.0038907551 0.0098567784 -0.0046297420 0.9999331335
+32 0.8323349207 -1.1474312088 -0.2350001969 0.0119384059 0.0104160567 -0.0014275159 0.9998734632
+44 -0.4343588987 -0.8675162942 -0.9776125590 0.0166408078 0.0010048804 0.0011671392 0.9998603460
+56 -2.1102838646 -0.1236953880 -1.1139735919 0.0142740924 -0.0086639320 0.0032793923 0.9998552056
+68 -2.3652132474 0.2544151307 -0.5985079020 0.0060372768 -0.0113808096 0.0033891179 0.9999112672
+80 -1.6285978114 0.2581656490 0.0462283000 -0.0008922860 -0.0055286554 -0.0024199352 0.9999813907
+92 -0.4225990760 0.0723111066 0.4057505283 -0.0007901848 0.0035195390 -0.0099564259 0.9999439274
+104 -0.1096572065 -0.2830626557 0.6292120529 0.0049304572 0.0120719232 -0.0150901694 0.9998011032
+116 0.1319752181 -0.7245040410 0.3926135231 0.0125916793 0.0092104494 -0.0092868754 0.9998351720
+128 -1.4532818462 -0.3240895219 -0.3361075869 0.0185518860 -0.0008519578 -0.0036717877 0.9998207938
+140 -3.5311265034 0.6980354623 -0.5886083017 0.0171192245 -0.0096819051 -0.0049940816 0.9997941048
+152 -3.7791140777 0.5773186592 0.3388400532 0.0086899237 -0.0129336194 -0.0020334984 0.9998765282
+164 -2.9890245351 0.4610989145 0.9429783842 0.0005681107 -0.0112846587 -0.0001235377 0.9999361572
+176 -2.0016020319 0.5140502009 0.8264223957 -0.0024804564 -0.0049373578 -0.0054483330 0.9999698923
+188 -1.4179589413 0.0711891011 0.7343715583 0.0027213520 0.0019053630 -0.0099660909 0.9999448189
+200 -1.0453876783 -0.7212597971 0.2044826348 0.0092975676 0.0029346269 -0.0079534997 0.9999208394
+212 -1.4535738076 -0.6656175547 -0.3343819500 0.0169345623 -0.0028205920 -0.0027824213 0.9998487501
+224 -3.4357875363 0.3872952331 -0.9421956689 0.0213276931 -0.0099440374 -0.0030233200 0.9997185130
+236 -4.3943534916 1.5832853782 -1.0343420804 0.0183903441 -0.0144548476 -0.0066469430 0.9997042917
+248 -4.2776635912 1.9343548087 -0.6378581924 0.0105680754 -0.0109815822 -0.0101260856 0.9998325775
+260 -2.7104623260 1.3609663731 -0.4858312751 0.0047925893 -0.0039609986 -0.0124576469 0.9999030696
+272 -1.5246233209 0.3041329950 -0.3523221365 0.0079563357 0.0050870165 -0.0133781266 0.9998659134
+284 -1.6299907358 -0.2570990754 -0.6297924151 0.0177543852 0.0059846876 -0.0115024133 0.9997583007
+296 -2.4517178403 0.0425262023 -1.3198870742 0.0267617547 -0.0042315335 -0.0045167535 0.9996226796
+305 -3.4648297867 0.6446985225 -2.1443116691 0.0277614195 -0.0119006539 -0.0031830095 0.9995386668
+317 -4.1393229583 1.7099525650 -2.4715650694 0.0241131061 -0.0174587366 -0.0016429862 0.9995554268
+329 -3.7824796507 1.8900388407 -2.2149206854 0.0162455685 -0.0150896090 -0.0019157317 0.9997523269
+341 -2.6216564695 1.3862298100 -2.0443881663 0.0127124075 -0.0058699007 -0.0080130919 0.9998698562
+353 -1.6113036362 0.2182592470 -2.2027430633 0.0160659631 0.0031417482 -0.0136178798 0.9997732581
+365 -1.2813287872 -0.1628942873 -2.6576214438 0.0258594560 0.0029583781 -0.0110242955 0.9996004209
+377 -2.5203657456 0.5690964995 -3.2536041044 0.0321647614 -0.0040982423 -0.0092538084 0.9994313381
+389 -3.8329536982 2.0991460462 -3.3922466020 0.0319160563 -0.0118547541 -0.0091505187 0.9993783559
+401 -4.3154590133 3.3385030050 -2.8449084579 0.0252584855 -0.0132549981 -0.0101703722 0.9995413335
+413 -3.2007668726 2.8619175081 -2.6654980117 0.0175463013 -0.0091746795 -0.0104893372 0.9997489317
+425 -1.4625309208 1.9676275308 -2.4292039874 0.0137758392 0.0023141997 -0.0149303604 0.9997909557
+437 -0.6084089029 1.1415444534 -2.0870664146 0.0161574245 0.0146453346 -0.0232090979 0.9994927661
+449 -0.5928649521 0.4707542251 -2.0452189588 0.0239294641 0.0189931512 -0.0250425258 0.9992194518
+461 -0.7870962018 0.4305446945 -2.7080663748 0.0326268871 0.0093576745 -0.0155158087 0.9993033473
+473 -2.6393044428 1.6448450671 -3.3367061174 0.0359840178 -0.0035538309 -0.0110909043 0.9992845003
+485 -3.4472081846 2.4625786822 -3.4783830019 0.0297100179 -0.0117068812 -0.0080869105 0.9994572856
+497 -2.6284362549 2.1481782671 -3.2760441808 0.0203596666 -0.0103054746 -0.0041698522 0.9997309105
+509 -0.8946419446 1.3772811230 -2.9119398949 0.0147665937 -0.0011086945 -0.0076144572 0.9998613597
+521 0.1881484574 0.6853404102 -2.4076028169 0.0169338747 0.0107450578 -0.0102301208 0.9997465340
+533 -0.0259487112 0.4355339042 -2.9720350869 0.0266319870 0.0140903069 -0.0148950103 0.9994350100
+545 -1.1806317130 1.4856470732 -3.8269015858 0.0356894049 0.0061800439 -0.0146511234 0.9992364175
+557 -2.4827564911 3.0364684909 -4.0639642760 0.0357886119 -0.0055147392 -0.0103628974 0.9992904349
+569 -2.7006154953 3.2115743179 -3.9980951193 0.0264272041 -0.0099291844 -0.0063631883 0.9995811743
+581 -2.4654171621 2.7054163948 -3.3622680728 0.0158825326 -0.0049457821 -0.0086689507 0.9998240514
+593 -1.0706535954 1.8213355077 -3.0356732575 0.0115422895 0.0035426104 -0.0110351421 0.9998662166
diff --git a/iMED_pe/train/session_005_scene_1_zoom_in/K.txt b/iMED_pe/train/session_005_scene_1_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..154d2eff53e104122a4ea76b0415fd1e59e4d75a
--- /dev/null
+++ b/iMED_pe/train/session_005_scene_1_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1026.1978250267 0.0000000000 634.6705886215
+0.0000000000 1023.3819639524 489.8573355231
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1025.6326931125 0.0000000000 716.2476091404
+0.0000000000 1024.0029587175 505.5439249883
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1023.2925035637 0.0000000000 609.9035725955
+0.0000000000 1017.4288272014 496.2173957358
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1022.6188035798 0.0000000000 702.4358855229
+0.0000000000 1019.1498020363 489.6722041031
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/train/session_005_scene_1_zoom_in/pose.txt b/iMED_pe/train/session_005_scene_1_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e2c43085f4e4d00d74cb59b95e9dc9dce16ea9fb
--- /dev/null
+++ b/iMED_pe/train/session_005_scene_1_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 0.0000000000 1.0000000000
+20 -0.4095718672 -0.2566865421 3.7277193193 0.0004639142 -0.0062899289 -0.0001225189 0.9999801031
+32 -1.4416329238 -0.3047906560 7.0513889964 0.0029745820 -0.0095138960 -0.0011759124 0.9999496262
+44 -2.2284476413 -0.4103931964 8.6925347036 0.0037841784 -0.0103767824 -0.0032213190 0.9999338106
+56 -1.9175423187 -0.3096720327 7.9675150439 0.0029009654 -0.0112379710 -0.0029143770 0.9999283968
+68 -1.7378650810 -0.4116300110 4.9825119604 -0.0017087919 -0.0068677176 0.0021220670 0.9999727053
+80 -1.0794024540 -0.6089993520 1.7106341499 -0.0062521918 -0.0072115355 0.0044283958 0.9999446450
+92 -0.2896108289 -0.9091950709 0.0183120585 -0.0100582176 -0.0119007190 0.0038020824 0.9998713664
+104 -0.6805023878 -0.6851352099 1.1101335096 -0.0069602080 -0.0109928935 0.0056864585 0.9998991829
+116 -1.1117750521 -0.6088638523 4.2910467323 -0.0041051847 -0.0142335600 0.0073501406 0.9998632550
+128 -2.0522546528 -0.2925925030 7.0300655327 0.0009181068 -0.0134374074 0.0080641251 0.9998767739
+140 -2.5941134127 -0.2975969238 8.2278263833 0.0018082503 -0.0123171027 0.0069971426 0.9998980244
+152 -2.4218064528 -0.2613910439 7.7294116602 0.0008901616 -0.0121155422 0.0051299673 0.9999130486
+164 -1.4005316057 -0.4812468843 4.7223819644 -0.0053258987 -0.0129150786 0.0021679801 0.9999000627
+176 -0.7198208866 -0.9312916469 1.2669160391 -0.0125485689 -0.0115832140 0.0030857479 0.9998494090
+188 -0.0276399836 -0.9429057042 -1.2669281621 -0.0147868931 -0.0118359178 0.0031758844 0.9998155693
+200 0.2617532297 -0.8709065600 -1.9818867149 -0.0145925997 -0.0120518739 0.0024514192 0.9998178829
+212 -0.0867183751 -0.4582712239 -0.6201013676 -0.0101114518 -0.0111791700 0.0036933970 0.9998795645
+224 -0.5746100602 -0.2755868966 1.4468211182 -0.0056942271 -0.0105728450 0.0075643295 0.9998992808
+236 -1.1254386013 -0.5399966785 3.2053504135 -0.0048137305 -0.0116724740 0.0093145297 0.9998769029
+248 -1.1064043699 -0.9290599623 3.3995761888 -0.0085168066 -0.0129737675 0.0062197437 0.9998602203
+260 -0.6538504825 -0.7382353066 0.8563372011 -0.0105690591 -0.0093234055 0.0033495254 0.9998950694
+272 -0.0522937065 -0.8653762536 -2.2940866051 -0.0140942112 -0.0087762736 0.0031666108 0.9998571412
+284 0.8608258054 -0.8579439821 -4.1929193916 -0.0150487592 -0.0121103684 0.0054567017 0.9997985288
+296 0.7191848907 -0.8318318911 -3.2236144592 -0.0130554276 -0.0145320836 0.0080644765 0.9997766443
+305 0.2396579366 -0.8132522293 -0.7024455823 -0.0112828812 -0.0176974840 0.0067217290 0.9997571275
+317 -1.1971980534 -0.2434842736 2.9049242360 -0.0039699670 -0.0140705462 0.0053568384 0.9998787743
+329 -2.1254325854 0.0578626199 6.1428113866 0.0014841820 -0.0144796936 0.0062383245 0.9998746016
+341 -1.7903999691 0.0196033706 7.4693614738 0.0019266582 -0.0182190927 0.0047366446 0.9998209424
+353 -1.6305266012 -0.3244256483 5.8169833556 -0.0025505349 -0.0155922170 0.0047357398 0.9998639659
+365 -0.9628410734 -0.8112399994 2.5006118011 -0.0087940429 -0.0147054551 0.0053534077 0.9998388647
+377 -0.3630617730 -0.9282339172 0.2090332139 -0.0111574202 -0.0142549894 0.0052891820 0.9998221501
+389 -0.0282056711 -0.8967194646 -0.3493249444 -0.0101240619 -0.0156271293 0.0070867261 0.9998015176
+401 -1.1618478525 -0.5658400505 2.2007044889 0.0013415328 -0.0135634716 0.0096767180 0.9998602871
+413 -2.2449433665 -0.8284699448 5.7755346975 0.0072433602 -0.0140304622 0.0062220753 0.9998559725
+425 -2.5897234284 -0.6399479966 8.4521937581 0.0116173650 -0.0168563812 0.0045470968 0.9997800874
+437 -2.5540956766 -0.2911578034 9.7522777830 0.0154609429 -0.0187297945 0.0047729946 0.9996936394
+449 -3.4981950365 -1.1259824479 8.8596183346 0.0088893045 -0.0095074865 0.0071638298 0.9998896277
+461 -2.8016426107 -1.0528312687 6.0480440867 0.0065023246 -0.0055055725 0.0082651897 0.9999295451
+473 -1.4353363405 -1.2192713080 3.3693211252 0.0014488380 -0.0089961633 0.0057030292 0.9999422210
+485 -0.9412375023 -1.4043816581 1.5324367335 -0.0018877934 -0.0077842950 0.0057165671 0.9999515798
+497 -0.6880505150 -1.3264341458 2.0981394565 0.0000085096 -0.0120902551 0.0077628881 0.9998967763
+509 -1.3220377222 -1.3272898230 5.3298201273 0.0029593115 -0.0178149226 0.0082361669 0.9998029989
+521 -2.4196185711 -1.0882656425 8.4772831850 0.0068170478 -0.0186122957 0.0057018492 0.9997872770
+533 -3.2087642543 -1.2123775134 10.8781566893 0.0085437777 -0.0190633655 0.0077109522 0.9997520358
+545 -3.4098615002 -0.9525762138 12.3686261819 0.0126934201 -0.0220751255 0.0070766931 0.9996506822
+557 -2.4023212679 -0.9079268727 12.5204477023 0.0127763980 -0.0302915409 0.0034941805 0.9994533390
+569 -2.8154848545 -1.0759000985 10.9163548025 0.0080156592 -0.0231982894 0.0012240978 0.9996979995
+581 -1.8676489316 -1.2690320272 7.0693722113 0.0011331028 -0.0184609544 -0.0011944988 0.9998282265
+593 -1.4306725240 -1.0107610306 3.2833030571 0.0005039219 -0.0108897750 -0.0001098334 0.9999405716
diff --git a/iMED_pe/train/session_005_scene_3_circular/K.txt b/iMED_pe/train/session_005_scene_3_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..154d2eff53e104122a4ea76b0415fd1e59e4d75a
--- /dev/null
+++ b/iMED_pe/train/session_005_scene_3_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1026.1978250267 0.0000000000 634.6705886215
+0.0000000000 1023.3819639524 489.8573355231
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1025.6326931125 0.0000000000 716.2476091404
+0.0000000000 1024.0029587175 505.5439249883
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1023.2925035637 0.0000000000 609.9035725955
+0.0000000000 1017.4288272014 496.2173957358
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1022.6188035798 0.0000000000 702.4358855229
+0.0000000000 1019.1498020363 489.6722041031
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/train/session_005_scene_3_circular/pose.txt b/iMED_pe/train/session_005_scene_3_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..85b25d9769366911ce7c03817f50f064f305ae39
--- /dev/null
+++ b/iMED_pe/train/session_005_scene_3_circular/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 -0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 1.0000000000
+20 -7.8871547457 -0.5272259652 -3.6576369312 0.0018167849 0.0232430692 -0.0006327276 0.9997279923
+32 -5.7789475144 0.6418775223 -4.3487289804 -0.0051663517 -0.0017128946 -0.0046572487 0.9999743421
+44 -4.6866837037 2.7504189960 -4.4170441651 -0.0104435893 -0.0104255878 -0.0067980997 0.9998680035
+56 -3.9877213102 3.8919819101 -4.6244529248 -0.0188076719 -0.0078611673 -0.0055074016 0.9997770462
+68 -2.3453995967 2.4884424983 -4.3061520318 -0.0334894456 0.0011827626 -0.0003237783 0.9994383189
+80 -0.2530273793 3.6503039778 -2.8687997241 -0.0246716363 0.0077668694 0.0049473801 0.9996531946
+92 -1.0832000289 3.4188295208 -2.1006189683 -0.0121395950 0.0209150687 0.0063785016 0.9996872035
+104 -2.7900122634 2.8794066138 -1.6932537412 0.0055782892 0.0252987455 0.0063415017 0.9996442575
+116 -3.7836750130 1.4526899658 -2.8139491396 0.0079214146 0.0129275011 0.0036957966 0.9998782286
+128 -5.3043009622 1.6584459053 -4.3724448547 0.0028853581 0.0032274571 -0.0020126510 0.9999886037
+140 -6.0174913029 1.1287806628 -5.1515012898 -0.0144890628 0.0046269427 -0.0046610281 0.9998734586
+152 -5.3953271455 2.1682233437 -4.9899357064 -0.0221031043 0.0124127480 -0.0015751547 0.9996773956
+164 -3.0400401204 2.3797119030 -3.9435097515 -0.0238263187 0.0196304377 0.0068144032 0.9995001332
+176 -1.2926009894 1.4735676917 -2.7789855698 -0.0138480024 0.0250799844 0.0078042057 0.9995590636
+188 -1.2035501667 0.8160552114 -2.6870432533 0.0020295523 0.0234457586 0.0076412991 0.9996938471
+200 -2.2751809324 0.7723111725 -3.6406183363 0.0136691058 0.0127371850 0.0042693340 0.9998163294
+212 -4.4923046384 1.0438344639 -5.4177043171 0.0133208186 0.0080580519 -0.0002952633 0.9998787609
+224 -4.5397591510 2.4940081532 -6.7190324284 0.0061887851 0.0007392794 -0.0048204586 0.9999689573
+236 -2.7682183385 2.8272414848 -6.6720404925 -0.0081892514 -0.0004526099 -0.0044492865 0.9999564666
+248 -2.3591527370 4.1086769027 -6.1557630811 -0.0078122013 0.0133832746 -0.0022981273 0.9998772805
+260 -2.2882812058 3.5112550415 -5.6866704160 0.0012640719 0.0257933745 -0.0007235321 0.9996662345
+272 -2.6027203222 2.0583513639 -5.3200398796 0.0113075457 0.0239134417 -0.0034185622 0.9996442368
+284 -4.1384153640 0.8426084334 -6.2475015451 0.0165025214 0.0120177700 -0.0085723550 0.9997548473
+296 -6.0998856501 -0.0885502998 -8.4333985937 0.0105541755 0.0049398667 -0.0120501353 0.9998594908
+305 -5.8677805256 -0.3691963798 -9.6692887598 0.0010414574 -0.0021378933 -0.0122128094 0.9999225930
+317 -2.5450024980 1.2977601403 -9.5020041853 -0.0070244439 -0.0167033341 -0.0123543127 0.9997594845
+329 -0.9962458558 3.5317796889 -8.6235529117 -0.0086632406 -0.0113885932 -0.0120700936 0.9998247652
+341 -0.9429850332 3.0469435434 -7.3666454539 -0.0124660074 0.0079329444 -0.0063622005 0.9998705864
+353 -0.6745457346 2.3961579750 -5.6428973230 -0.0011878525 0.0228241208 -0.0027521534 0.9997350020
+365 -1.1675430238 1.3818750716 -4.8906856809 0.0088721685 0.0259487403 -0.0022174729 0.9996214435
+377 -0.5933531006 0.5099623656 -5.4250279991 0.0122930770 0.0098522701 -0.0049570542 0.9998636110
+389 -1.2040921308 0.8366335720 -6.8581524941 0.0089257440 -0.0016998315 -0.0090061242 0.9999181623
+401 -1.1753254509 1.0574026980 -8.0469052431 -0.0059707530 -0.0079775280 -0.0094997442 0.9999052275
+413 -1.6281550707 3.2442385125 -8.3613264946 -0.0070773806 0.0015703467 -0.0104630581 0.9999189813
+425 -1.9618308684 4.0607376567 -7.4253757351 -0.0060900806 0.0210746182 -0.0067420432 0.9997366234
+437 -1.1270352930 3.8539465024 -5.8051243723 0.0002277019 0.0297814217 -0.0024339944 0.9995534457
+449 -2.0118925988 2.3721677774 -5.5771553016 0.0085637779 0.0274515505 -0.0033583747 0.9995808098
+461 -3.3065727279 1.5550616198 -6.8552590867 0.0107469616 0.0181536466 -0.0050811914 0.9997645370
+473 -2.9341137896 1.7309314738 -8.0324806859 0.0005180550 0.0035073519 -0.0090743431 0.9999525421
+485 -1.7540313043 1.4559157766 -8.4454267848 -0.0149852579 -0.0043659632 -0.0107879667 0.9998199839
+497 -1.9958072981 3.1735225577 -8.1022909345 -0.0167511528 0.0087039377 -0.0090225187 0.9997810933
+509 -0.8592027909 4.2362912167 -6.7071009782 -0.0058062346 0.0211876033 -0.0041835194 0.9997499044
+521 -1.3658850745 2.6364489628 -6.0601577480 0.0075795835 0.0286412594 -0.0006001205 0.9995608376
+533 -2.1416461815 1.3996858485 -6.6969388107 0.0152334228 0.0182345925 -0.0015848993 0.9997164251
+545 -3.6779913125 1.5331459194 -8.4317776096 0.0096145854 0.0100189066 -0.0015428736 0.9999023956
+557 -2.6877057897 1.9100352394 -9.0446876378 -0.0051922020 0.0014916687 -0.0008783457 0.9999850221
+569 -1.8088452226 2.9652653182 -8.8534064200 -0.0131675685 0.0083100893 -0.0037002589 0.9998719246
+581 -0.0860989593 3.0558694516 -7.6791363161 -0.0126315742 0.0176052737 -0.0033009619 0.9997597718
+593 -0.7028436505 2.2163615082 -7.1608821723 -0.0030129238 0.0264508262 -0.0031377323 0.9996406508
diff --git a/iMED_pe/train/session_005_scene_5_zoom_in/K.txt b/iMED_pe/train/session_005_scene_5_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..154d2eff53e104122a4ea76b0415fd1e59e4d75a
--- /dev/null
+++ b/iMED_pe/train/session_005_scene_5_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1026.1978250267 0.0000000000 634.6705886215
+0.0000000000 1023.3819639524 489.8573355231
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1025.6326931125 0.0000000000 716.2476091404
+0.0000000000 1024.0029587175 505.5439249883
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1023.2925035637 0.0000000000 609.9035725955
+0.0000000000 1017.4288272014 496.2173957358
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1022.6188035798 0.0000000000 702.4358855229
+0.0000000000 1019.1498020363 489.6722041031
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/train/session_005_scene_5_zoom_in/pose.txt b/iMED_pe/train/session_005_scene_5_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8ce19c5af4b112933ab3e82639c0dab2a5190dc9
--- /dev/null
+++ b/iMED_pe/train/session_005_scene_5_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 -0.0000000000 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 1.0000000000
+20 0.2024072086 -0.1924148838 -0.5204887538 -0.0013685422 -0.0019677435 0.0004531451 0.9999970249
+32 0.4657173101 0.0096774905 1.5601012986 0.0011141605 -0.0020062137 -0.0003665233 0.9999972997
+44 0.5247015401 -0.0433376392 3.1215290581 0.0009775592 -0.0015631560 -0.0001715526 0.9999982857
+56 0.2664200553 0.1664453065 1.1902613977 0.0014214068 -0.0021956698 -0.0002535037 0.9999965472
+68 0.2874096543 0.0927237773 -0.6017082524 -0.0005948829 -0.0036798358 0.0001327193 0.9999930436
+80 0.2445953084 0.2267099329 0.8447693225 0.0003689512 -0.0021361098 -0.0001069334 0.9999976447
+92 0.2370316056 0.3170146911 2.6956534436 0.0012107215 -0.0011761950 -0.0003765385 0.9999985045
+104 0.7474590828 0.3193980035 1.6047810487 -0.0010240258 -0.0057806915 0.0000997901 0.9999827624
+116 0.4543991263 0.6120036435 -0.3182001722 -0.0004640596 -0.0048975246 0.0000526716 0.9999878980
+128 0.2982990420 0.8155124621 0.8407466057 0.0016215021 -0.0028367486 -0.0007151430 0.9999944061
+140 0.2628648524 0.3719021710 2.2235709506 -0.0003613103 -0.0017332651 -0.0001674422 0.9999984186
+152 -0.1028608038 0.5177633467 1.3083158856 0.0004704894 -0.0007081747 -0.0004626030 0.9999995316
+164 0.4696038771 0.4233150545 -0.3982267494 -0.0002620545 -0.0057566143 -0.0001922255 0.9999833777
+176 0.4845184808 0.5145318412 -0.0410987051 0.0005191064 -0.0053226460 0.0000794526 0.9999856967
+188 0.1107594239 0.6416834546 1.5839976475 0.0020330554 -0.0014642577 -0.0000927471 0.9999968570
+200 0.1031846455 0.4043319678 1.6205611802 0.0005890284 -0.0015789784 -0.0000816562 0.9999985766
+212 0.4159377302 0.6580969278 0.3155600698 0.0022374274 -0.0048068027 -0.0009388714 0.9999855034
+224 0.6822643286 0.4802657505 0.2393320129 0.0012499344 -0.0062801125 -0.0007149432 0.9999792431
+236 0.7740970994 0.3699996379 1.5933795416 0.0009882414 -0.0052279153 -0.0002537593 0.9999858138
+248 0.3867963674 0.2374115529 1.8110999181 0.0001278540 -0.0023982216 0.0000464056 0.9999971150
+260 0.2491183592 0.2216895410 -0.0552356145 -0.0008533508 -0.0031489325 0.0002056770 0.9999946568
+272 -0.2110881268 0.8056420092 -1.3994721532 0.0024161485 -0.0014503168 -0.0005398649 0.9999958837
+284 0.2194663415 0.7125893376 -0.4494201855 0.0031457656 -0.0031053971 -0.0009322602 0.9999897957
+296 -0.3485913105 0.3883150985 1.2271276768 0.0023621040 0.0012647528 -0.0007780112 0.9999961078
+305 -0.3120328423 0.8594257347 1.5103121497 0.0056372915 0.0008222842 -0.0019038662 0.9999819599
+317 -0.5685259369 0.9617004691 0.0130665340 0.0051306495 0.0015442601 -0.0017205657 0.9999841655
+329 -0.3929652841 0.7401209510 -0.6071276514 0.0029911669 0.0000393871 -0.0010875422 0.9999949343
+341 0.1994690425 0.5053566918 0.3567878784 0.0016801110 -0.0026628707 -0.0007201702 0.9999947838
+353 0.0851338109 0.4130441914 1.5042136178 0.0017597304 -0.0011935642 -0.0007050315 0.9999974908
+365 0.2705371507 0.7312288420 0.4493015317 0.0034007110 -0.0035209820 -0.0013819908 0.9999870639
+377 0.5562110492 0.7520634098 -1.3855458329 0.0023949124 -0.0064799070 -0.0012090650 0.9999754064
+389 0.5459903032 0.7550700008 -1.0141803313 0.0019861905 -0.0054738094 -0.0008706714 0.9999826670
+401 0.2400129698 0.5853291053 0.7470671682 0.0013647414 -0.0019690344 -0.0006636312 0.9999969100
+413 0.4526645002 0.2856001662 1.1490794855 -0.0001795641 -0.0034110729 -0.0003139393 0.9999941169
+425 0.6233692807 0.2097371982 -0.3836760346 -0.0011795070 -0.0057222842 0.0003953879 0.9999828538
+437 0.5022357992 0.4966090909 -1.2515729590 0.0006846416 -0.0050603201 -0.0003428440 0.9999869034
+449 0.3086396100 0.5040589345 0.2060517671 0.0016403036 -0.0022997382 -0.0007217715 0.9999957498
+461 0.6652177503 0.6716771318 1.2515209511 0.0028807351 -0.0038201422 -0.0013544651 0.9999876366
+473 0.3972190593 0.5321299829 -0.3492056072 0.0013427534 -0.0040292694 -0.0007096859 0.9999907291
+485 -0.1432351722 0.5840755564 -1.8736571044 0.0009796586 -0.0012507610 -0.0005964329 0.9999985601
+497 0.3797060002 0.6858852174 -1.1069682032 0.0016388324 -0.0025912705 -0.0004953634 0.9999951771
+509 0.5356107305 0.7340865644 0.1773599809 0.0017760675 -0.0016831247 -0.0002860153 0.9999969654
+521 0.2105376220 0.7435709299 -0.6443077935 0.0010781920 -0.0003790348 0.0009229683 0.9999989210
+533 0.3483339352 0.1588996028 -2.3512912260 -0.0026137012 -0.0029086726 0.0008898256 0.9999919582
+545 0.3464477696 0.5907389248 -2.6608487783 0.0007730680 -0.0030765218 -0.0002402671 0.9999949398
+557 0.2340052326 0.5665367435 -0.4411218176 0.0021904513 -0.0019868740 -0.0006918787 0.9999953878
+569 0.0134064584 0.4036514389 1.1116505107 0.0020802337 -0.0009447320 -0.0006614555 0.9999971713
+581 0.0810396439 0.6182318136 -0.7371211327 0.0031721126 -0.0022289867 -0.0011201372 0.9999918573
+593 0.5994442773 0.6643092828 -1.9732802326 0.0031294111 -0.0053305121 -0.0009057333 0.9999804858
diff --git a/iMED_pe/train/session_005_scene_6_left_right/K.txt b/iMED_pe/train/session_005_scene_6_left_right/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..154d2eff53e104122a4ea76b0415fd1e59e4d75a
--- /dev/null
+++ b/iMED_pe/train/session_005_scene_6_left_right/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1026.1978250267 0.0000000000 634.6705886215
+0.0000000000 1023.3819639524 489.8573355231
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1025.6326931125 0.0000000000 716.2476091404
+0.0000000000 1024.0029587175 505.5439249883
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1023.2925035637 0.0000000000 609.9035725955
+0.0000000000 1017.4288272014 496.2173957358
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1022.6188035798 0.0000000000 702.4358855229
+0.0000000000 1019.1498020363 489.6722041031
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/train/session_005_scene_6_left_right/pose.txt b/iMED_pe/train/session_005_scene_6_left_right/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f70de5685f9a07d1dad17c0b5db8c9946822a4e5
--- /dev/null
+++ b/iMED_pe/train/session_005_scene_6_left_right/pose.txt
@@ -0,0 +1,50 @@
+8 -0.0000000000 0.0000000000 -0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 1.0000000000
+20 -0.4904187320 0.4396445215 1.9292366230 0.0004038732 -0.0145360283 0.0054078745 0.9998796406
+32 -2.5371408894 0.8592375670 2.5417809682 0.0014708583 -0.0178689318 0.0031770404 0.9998342084
+44 -1.7240094784 1.2141247744 2.3090878061 0.0031269072 -0.0161901724 0.0014776762 0.9998629492
+56 0.1633665522 0.8244161536 1.2106795699 0.0043164566 -0.0026034685 0.0001143120 0.9999872885
+68 -0.0041973846 1.3474510458 0.6935201705 0.0098033130 0.0043725345 0.0020317092 0.9999403223
+80 -0.3122592013 1.6865839993 1.8707171526 0.0107469243 -0.0114420340 0.0040617592 0.9998685342
+92 -2.1058305659 0.7580616919 2.2757124365 0.0032746503 -0.0189261488 0.0020871273 0.9998133433
+104 -0.9793166084 0.0312354219 2.2408734294 -0.0025488486 -0.0156105184 -0.0017128885 0.9998734325
+116 -0.1864217920 -0.3720261411 0.7400898813 -0.0020889463 -0.0044360724 -0.0047289400 0.9999767971
+128 -0.7319786620 0.7337380471 0.9163002120 0.0054062801 -0.0044592311 0.0003494628 0.9999753823
+140 -1.9520440437 1.4440476999 2.0231395624 0.0073099467 -0.0186445293 0.0045507035 0.9997890964
+152 -2.8783941822 1.5217862711 1.7637075597 0.0071557097 -0.0193156534 0.0015277396 0.9997866609
+164 0.1187404500 0.8510011714 1.5364299381 0.0034824782 -0.0173352794 0.0002063390 0.9998436467
+176 -0.1183757304 -0.1296892389 0.0638221822 0.0011725224 0.0019946937 -0.0035899751 0.9999908792
+188 -0.6429282239 0.7881292976 1.2129181716 0.0064620009 -0.0029537448 -0.0003719425 0.9999746895
+200 -1.9879699599 1.7845620963 2.0601263619 0.0104620073 -0.0156652837 0.0029514638 0.9998182005
+212 -0.9000501001 0.9482655538 1.9853301333 0.0043533433 -0.0204451783 0.0011159226 0.9997808749
+224 1.2408115072 -0.4756625263 1.4000326707 -0.0030349195 -0.0145814296 -0.0036530727 0.9998824062
+236 0.4248354171 -0.2909367132 0.3227340448 0.0007698185 -0.0022477321 -0.0044239000 0.9999873920
+248 -0.3375761630 1.5352902910 1.3180998732 0.0115918082 -0.0101471160 0.0018583104 0.9998795991
+260 -2.0008268915 1.6858970376 1.7077170962 0.0106203976 -0.0175595215 0.0041016606 0.9997809994
+272 -0.6417754046 0.8003590637 1.6023102540 0.0050090245 -0.0192510810 0.0019549886 0.9998002218
+284 0.4678504207 -0.2931773047 0.6615569406 0.0008092774 -0.0061603233 -0.0014396855 0.9999796612
+296 0.3867240878 0.6729879673 0.4240462650 0.0078687529 -0.0000827939 -0.0011544406 0.9999683711
+305 0.0628002990 1.3119296941 1.1584384514 0.0109004304 -0.0079498017 0.0013863562 0.9999080254
+317 -1.6686174290 1.0809757008 1.5351608286 0.0084594604 -0.0110069905 0.0018116619 0.9999019960
+329 -0.0142607347 1.0238401668 1.4370834128 0.0088313030 -0.0119910221 0.0002312693 0.9998890788
+341 1.6099936457 -0.0793641386 0.4112022511 0.0064108050 0.0003638337 -0.0015446938 0.9999781913
+353 1.3491795359 -0.3031547381 0.3986646354 0.0060692706 0.0039446896 -0.0007186075 0.9999735431
+365 -0.2038811949 0.8319601510 1.4499354975 0.0099681461 -0.0065310188 0.0022981069 0.9999263476
+377 -1.7357028809 1.3879831990 1.6390218121 0.0108298255 -0.0155771911 0.0025720463 0.9998167085
+389 -0.0880531218 0.2394774019 1.5064130893 0.0032295178 -0.0175012140 0.0005073616 0.9998414976
+401 1.5146111122 0.5472170726 0.7239207140 0.0077907238 -0.0111591618 0.0004653017 0.9999072763
+413 2.6563320349 1.0009249760 0.4605382838 0.0118424631 -0.0146900575 0.0041940366 0.9998131667
+425 0.9262930562 0.7098680210 1.0238506361 0.0088182588 -0.0173393294 0.0043325735 0.9998013877
+437 -2.0582345096 0.6296633880 1.2646849604 0.0062007657 -0.0136700798 -0.0020913194 0.9998851463
+449 -1.3065399829 0.9069391975 0.7872152043 0.0079628146 -0.0076607578 -0.0014276558 0.9999379322
+461 0.8075779320 0.2452263648 -0.2925262658 0.0061840031 -0.0025779058 -0.0010900577 0.9999769619
+473 1.2160087542 -0.3471838409 -0.1749010877 0.0032944345 -0.0056913510 0.0013021887 0.9999775295
+485 -0.5398132519 0.9108929995 0.7970895869 0.0087817009 -0.0126442190 0.0020393228 0.9998794160
+497 -1.0097059289 0.8375163517 0.7747140869 0.0073127048 -0.0150456486 -0.0009533751 0.9998596121
+509 1.3372327825 0.6576869099 0.1536030686 0.0066922797 -0.0117990448 -0.0009363039 0.9999075554
+521 2.4018688685 -0.2994800244 -0.9264536789 0.0031815254 -0.0094244806 -0.0018244051 0.9999488630
+533 -0.3870729838 0.5182108371 0.4249265891 0.0062643852 -0.0045224581 -0.0016428052 0.9999688025
+545 -1.9289151208 1.3989325907 0.9224712432 0.0098396583 -0.0136970826 0.0016099249 0.9998564793
+557 -2.1532770625 1.0485919281 0.4431350074 0.0074061366 -0.0117546934 0.0002209147 0.9999034591
+569 0.0982039361 0.8759373292 -0.1869496470 0.0073570753 -0.0054346371 -0.0001851547 0.9999581511
+581 -0.1757573173 -0.1772827147 -1.1543593066 0.0029683200 0.0046649416 -0.0017096528 0.9999832521
+593 -0.7185534770 0.6099793412 -0.4993246552 0.0071196741 -0.0012334461 0.0000813199 0.9999738908
diff --git a/iMED_pe/train/session_005_scene_6_zoom_in/K.txt b/iMED_pe/train/session_005_scene_6_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..154d2eff53e104122a4ea76b0415fd1e59e4d75a
--- /dev/null
+++ b/iMED_pe/train/session_005_scene_6_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1026.1978250267 0.0000000000 634.6705886215
+0.0000000000 1023.3819639524 489.8573355231
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1025.6326931125 0.0000000000 716.2476091404
+0.0000000000 1024.0029587175 505.5439249883
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1023.2925035637 0.0000000000 609.9035725955
+0.0000000000 1017.4288272014 496.2173957358
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1022.6188035798 0.0000000000 702.4358855229
+0.0000000000 1019.1498020363 489.6722041031
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/train/session_005_scene_6_zoom_in/pose.txt b/iMED_pe/train/session_005_scene_6_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2e63c0300356438f4bce61308e9b0b2326089ef9
--- /dev/null
+++ b/iMED_pe/train/session_005_scene_6_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 -0.0000000000 0.0000000000 0.0000000000 -0.0000000000 0.0000000000 1.0000000000
+20 -1.0824842963 -0.0036475903 -1.0192783010 0.0002376369 0.0066805338 -0.0019368410 0.9999757810
+32 -0.8578674193 0.2861751805 -3.0449997900 -0.0011139322 0.0026016650 -0.0002576532 0.9999959620
+44 1.4783486312 -0.0313139237 -3.9691410131 -0.0065153192 -0.0146148222 0.0051428232 0.9998587445
+56 0.7540697996 -0.6201642464 -3.8185285018 -0.0080263070 -0.0105721218 0.0018255973 0.9999102339
+68 0.8707526739 -1.4037668274 -1.1150493278 -0.0088889344 -0.0092309231 -0.0005680503 0.9999177237
+80 2.2942088130 -1.9313835370 0.4670432295 -0.0101497375 -0.0167341592 0.0012587089 0.9998076647
+92 1.8304683945 -1.3896980335 -0.5851747476 -0.0085351344 -0.0140782168 0.0034691056 0.9998584503
+104 -0.4994083760 -0.3856573202 -3.4471368631 -0.0040219842 -0.0010440750 0.0014606927 0.9999902999
+116 0.2834873955 -0.7058607531 -3.8301505081 -0.0064391753 -0.0082956336 -0.0005445685 0.9999447099
+128 2.0014958339 -1.0433420932 -2.1402084446 -0.0065774715 -0.0194003780 0.0004598294 0.9997900533
+140 3.2362987045 -1.2550953397 -0.0537386506 -0.0052854329 -0.0256511299 0.0026362311 0.9996535070
+152 3.1837832601 -1.5641582245 0.4873768268 -0.0069645531 -0.0241369838 0.0050308843 0.9996717417
+164 1.3573575513 -0.5885532479 -1.8784149648 -0.0037682034 -0.0137958622 0.0029218322 0.9998934632
+176 0.9218748232 -0.4269765525 -3.4522750178 -0.0050892001 -0.0118217198 0.0023927024 0.9999143073
+188 0.6897562900 -1.1268271631 -3.0107408269 -0.0061873602 -0.0109411680 -0.0002655259 0.9999209653
+200 1.6023813965 -0.8980323002 -0.1700211059 -0.0034858404 -0.0138331693 0.0015117803 0.9998970981
+212 3.4173557283 -0.9681728167 0.5339766414 -0.0041138624 -0.0257663644 0.0029274249 0.9996552410
+224 0.7957293568 -0.7412337879 -1.2673614050 -0.0053950859 -0.0102648669 0.0012872553 0.9999319319
+236 0.5415434227 -0.3025659876 -2.7859633861 -0.0043839173 -0.0088796831 0.0026270887 0.9999475141
+248 1.6834743130 0.1589473892 -1.8262842938 0.0011944032 -0.0160197018 0.0026808188 0.9998673691
+260 2.5560795793 -1.3072110565 -0.1953032054 -0.0045200091 -0.0231180583 -0.0019342067 0.9997206529
+272 -0.0619073058 -2.3658379897 0.3124109659 -0.0109529593 -0.0061781864 -0.0063920744 0.9999004971
+284 0.1468845709 -1.3645664009 -0.5642719454 -0.0071932188 -0.0067501090 -0.0027743599 0.9999474969
+296 1.3129084599 -1.3084993625 -2.0457107563 -0.0092997555 -0.0145703098 0.0029541525 0.9998462350
+305 1.9225153826 -1.4231717764 -1.9301928781 -0.0098197179 -0.0193886172 0.0030753720 0.9997590694
+317 2.8844955310 -0.8688729888 -0.3211208378 -0.0044120246 -0.0254044728 0.0027856402 0.9996636369
+329 2.0117092388 -1.2624475209 0.9189997910 -0.0053906934 -0.0186795123 0.0016233317 0.9998096724
+341 2.6838681665 -0.9168160623 1.0564772260 -0.0045905232 -0.0219231384 0.0037132770 0.9997422241
+353 2.3233610000 -0.6553241192 -0.9394798159 -0.0055246092 -0.0200575573 0.0059231377 0.9997660174
+365 2.2247093399 -0.5230781373 -2.6210269875 -0.0051578025 -0.0220078047 0.0060191386 0.9997263744
+377 2.7231867328 -0.9084237920 -0.7910243040 -0.0057789866 -0.0245035820 0.0054395953 0.9996682393
+389 1.9428331304 -0.7456307411 0.8676674924 -0.0031731784 -0.0179733617 0.0055019052 0.9998182926
+401 0.9352850595 0.4793002921 0.9192335508 0.0031159962 -0.0106076705 0.0073943460 0.9999115419
+413 0.9538047240 0.2004437471 -1.3524192623 -0.0006272404 -0.0125751575 0.0067705147 0.9998978108
+425 0.2190144059 -1.2888810467 -2.3790251287 -0.0095760484 -0.0094440267 0.0021134558 0.9999073172
+437 0.2180956040 -1.2283077458 -0.5683363641 -0.0063889785 -0.0074097136 0.0004321993 0.9999520440
+449 1.0680280997 -1.5651946753 0.5443618926 -0.0070976589 -0.0122490561 0.0006569277 0.9998995711
+461 1.6673623598 -0.7124258074 0.1333255274 -0.0032014048 -0.0169747913 0.0015618343 0.9998495728
+473 1.5322369068 0.2484879698 -1.4313972593 -0.0002087885 -0.0158201575 0.0046712522 0.9998639200
+485 1.4337565803 -1.1119047758 -1.3397199237 -0.0071709482 -0.0156294603 0.0014790094 0.9998510439
+497 0.4744193747 -1.6718187147 0.8291001448 -0.0086583842 -0.0061105674 -0.0038543362 0.9999364167
+509 1.0157663856 -1.1323841164 2.2223085683 -0.0057950309 -0.0075780576 -0.0030055517 0.9999499774
+521 1.2179056446 0.2878399111 0.8889320902 0.0004359947 -0.0097886025 0.0039665415 0.9999441283
+533 1.0246542791 0.6987755823 -1.7440496594 0.0012828882 -0.0117893148 0.0088402395 0.9998906022
+545 0.4104964791 0.1360080335 -1.9369711721 0.0001820642 -0.0087420674 0.0058932469 0.9999444048
+557 0.3916388197 -1.1954744206 0.1039611894 -0.0045745899 -0.0073744319 0.0035409534 0.9999560753
+569 -0.0641630572 -1.7707960000 1.0659673678 -0.0063644827 -0.0044105657 0.0013700934 0.9999690811
+581 0.0334622466 -0.4617132438 0.8941253122 0.0004373330 -0.0040438060 0.0042510990 0.9999826921
+593 1.0863855737 -0.7430979826 -1.2896383638 -0.0030405159 -0.0123688647 0.0055360603 0.9999035546
diff --git a/iMED_pe/train/session_006_scene_5_circular/K.txt b/iMED_pe/train/session_006_scene_5_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..18cd0b83cf4ce1d7284f83d5b7db8e923890a3bf
--- /dev/null
+++ b/iMED_pe/train/session_006_scene_5_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1025.3784533960 0.0000000000 564.1097162540
+0.0000000000 1027.3615030954 545.4681766787
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1026.0611814076 0.0000000000 653.9859682529
+0.0000000000 1027.3316875342 543.8496305887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1017.1944160018 0.0000000000 585.9134882891
+0.0000000000 1018.1541832560 536.3228366449
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1016.3324859120 0.0000000000 676.5122782405
+0.0000000000 1016.6175359755 533.7056559177
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/train/session_006_scene_5_circular/pose.txt b/iMED_pe/train/session_006_scene_5_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ac9ff58ec670b3140382c045d6d549b5c9d6b94f
--- /dev/null
+++ b/iMED_pe/train/session_006_scene_5_circular/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 -0.0000000000 -0.0000000000 -0.0000000000 0.0000000000 -0.0000000000 1.0000000000
+20 -0.8175709670 -0.1659988456 -0.5168455882 0.0075717088 0.0124634961 -0.0035022355 0.9998875261
+32 -1.3317918286 -0.8716577052 -2.0166651645 0.0151862010 0.0152273256 -0.0046318577 0.9997579976
+44 -2.5996307727 -1.1857363378 -3.1903947215 0.0244210121 0.0128626100 -0.0057164988 0.9996026656
+56 -3.7081227691 -0.2453071653 -2.0952054388 0.0286301119 0.0083535579 -0.0047432333 0.9995439142
+68 -4.2600682529 0.4279401877 -1.2172313435 0.0265254582 0.0033785629 -0.0039080635 0.9996347895
+80 -2.6104571848 0.5333240785 -0.7111399992 0.0171372754 -0.0101732809 -0.0036570410 0.9997947010
+92 -1.6199480710 0.8574005007 -0.1568018220 0.0099995808 -0.0100210837 -0.0025448696 0.9998965496
+104 -1.3126842592 1.7932469995 0.1608889091 0.0146012770 0.0008875064 -0.0015717596 0.9998917664
+116 -0.8907344172 1.4128955767 -0.4645721994 0.0177791364 0.0121181056 -0.0014692070 0.9997674206
+128 -1.0340335969 -0.1127842184 -1.6496762693 0.0160326831 0.0149916076 -0.0011746325 0.9997583833
+140 -1.7368024152 -1.2421443471 -2.5311112699 0.0202385020 0.0141361393 0.0012350337 0.9996944770
+152 -3.0456844071 -1.0170082123 -2.4081632701 0.0250712984 0.0097467924 0.0002874783 0.9996381082
+164 -5.5632754455 1.3316685467 -0.8455128270 0.0316901754 0.0096412210 0.0012857785 0.9994504122
+176 -6.9741355909 3.1626631381 0.8038748608 0.0325238082 0.0137690941 0.0079690256 0.9993443393
+188 -3.2057703132 3.1009615393 0.9959569954 0.0184523542 -0.0018539891 0.0092444640 0.9997852836
+200 -0.8496891371 2.4519475675 1.0041775754 0.0093900469 -0.0003714598 0.0018271418 0.9999541742
+212 -0.6969661979 1.8341604201 0.8146883722 0.0072316918 0.0110779329 -0.0044501181 0.9999025845
+224 -0.8963766652 0.6708205395 0.0473653253 0.0110611167 0.0209555495 -0.0086955872 0.9996814009
+236 -1.0422836245 -0.4977898693 -1.2651983260 0.0189851985 0.0158521794 -0.0099261755 0.9996448078
+248 -2.5205425885 -0.4520375711 -1.5659320734 0.0250177683 0.0137346746 -0.0076366226 0.9995634807
+260 -3.2440214224 0.0750262134 -1.2615123767 0.0216415918 0.0040383873 -0.0061023661 0.9997390130
+272 -2.4413300841 0.2250628200 -0.6767302266 0.0106878501 -0.0079938608 -0.0060036834 0.9998929062
+284 -1.4244142661 0.8261655418 0.1720658866 0.0018436090 -0.0090595398 -0.0046770889 0.9999463239
+296 -0.9897470608 2.0676920670 0.6122053272 0.0064678484 0.0048023934 -0.0082951122 0.9999331453
+305 -0.7520667599 1.5490678120 0.0832749876 0.0059778856 0.0172455464 -0.0136556279 0.9997401562
+317 -0.6039409268 0.6237166088 -1.0285468629 0.0120923469 0.0230425817 -0.0151286368 0.9995468668
+329 -0.5162185560 -0.0969841902 -2.1529304369 0.0174115637 0.0212319685 -0.0142676739 0.9995211226
+341 -1.7049785098 -1.0795967464 -3.6227519868 0.0252448420 0.0184299976 -0.0076105053 0.9994824227
+353 -2.5854023984 -1.0123386920 -3.5971857222 0.0266655067 0.0091629607 -0.0041685933 0.9995937243
+365 -3.3582000274 -0.4132373779 -2.5455234527 0.0224069243 0.0007848324 -0.0085847241 0.9997117666
+377 -3.5757885056 0.3678429688 -1.3644605723 0.0163870658 -0.0015831548 -0.0144488996 0.9997600647
+389 -2.3570330197 0.9073806826 -0.6591708158 0.0087360021 -0.0041992207 -0.0156409657 0.9998306902
+401 -1.8582765297 1.4169227065 0.0288817313 0.0047752128 0.0070428428 -0.0141405810 0.9998638106
+413 -4.1484649987 1.9849298048 0.1951979749 0.0156624734 0.0339133789 -0.0155119807 0.9991816392
+425 -4.0959930597 1.3020197739 -0.4778682113 0.0170589098 0.0349041314 -0.0157104197 0.9991215531
+437 -4.1258761067 0.3199830146 -1.5089082546 0.0179149704 0.0339336353 -0.0153358225 0.9991458226
+449 -3.3624100440 -2.1483938393 -4.5037601498 0.0180256369 0.0193504339 -0.0147630853 0.9995412390
+461 -4.1312143965 -1.2944173658 -3.9816349213 0.0220800731 0.0081911432 -0.0201543154 0.9995194741
+473 -6.9197295997 0.8775390384 -1.7536495011 0.0253092284 0.0142493889 -0.0193468800 0.9993908625
+485 -6.5372400547 1.2056384741 -0.8802853275 0.0190450221 0.0086735235 -0.0184239137 0.9996112327
+497 -3.9510545633 0.8160194040 -0.0146442920 0.0043908761 -0.0011445546 -0.0185161439 0.9998182648
+509 -2.8206099565 1.2791854220 0.3162318457 0.0043460412 0.0069224878 -0.0199616809 0.9997673341
+521 -2.1780410007 0.9463525533 -0.4746175397 0.0082468352 0.0193690563 -0.0208184310 0.9995616151
+533 -1.7332289147 0.9508458766 -1.2533248470 0.0170160241 0.0239882354 -0.0208262784 0.9993504318
+545 -1.3936722710 -0.8997538140 -3.5674309140 0.0202407109 0.0188018283 -0.0175927452 0.9994635062
+557 -1.9555640455 -2.7432670564 -5.2467151263 0.0163351489 0.0097542834 -0.0153275969 0.9997014963
+569 -2.7440023104 -2.2961512732 -5.3136043065 0.0212229941 0.0003040404 -0.0158592765 0.9996489261
+581 -4.5825084819 -1.1211530162 -4.5916619252 0.0232866567 -0.0022358590 -0.0136274033 0.9996334460
+593 -3.8900768898 -0.4019210597 -3.6044460283 0.0205433934 -0.0105722562 -0.0126111652 0.9996535174
diff --git a/iMED_pe/train/session_007_scene_1_circular/K.txt b/iMED_pe/train/session_007_scene_1_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/train/session_007_scene_1_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/train/session_007_scene_1_circular/pose.txt b/iMED_pe/train/session_007_scene_1_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ded39a2b30c1e6f7d67a7eb6cc996d4246df5a6
--- /dev/null
+++ b/iMED_pe/train/session_007_scene_1_circular/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 -0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 0.0000000000 1.0000000000
+20 1.2183467184 1.5267064965 0.3894755717 0.0006164833 -0.0034462556 0.0040820672 0.9999855399
+32 2.8945978409 0.7225497181 0.4508767730 -0.0118610917 -0.0102002091 0.0036010302 0.9998711431
+44 5.9934760204 -1.1570311748 -0.7925925079 -0.0291920075 -0.0230613596 0.0046725684 0.9992968365
+56 7.3134200557 0.3411598641 0.2067258454 -0.0303437003 -0.0230871324 0.0063540376 0.9992526559
+68 7.8108648452 1.0279118751 0.2438121203 -0.0323441661 -0.0156695366 0.0061698403 0.9993349056
+80 10.9459958017 -0.7544316634 -0.5963911444 -0.0428836497 -0.0207389920 0.0079029275 0.9988335349
+92 12.9787449227 -1.3062187492 -1.3279852849 -0.0454668460 -0.0209289245 0.0043959407 0.9987369132
+104 13.0640320545 -2.1441279219 -2.3883340307 -0.0470857690 -0.0110075738 0.0014371549 0.9988291637
+116 13.4072944034 -2.7704304201 -2.7723210360 -0.0473892383 -0.0037462500 -0.0003558518 0.9988694104
+128 13.5778908868 -3.8992143615 -3.3972039544 -0.0456756502 0.0033249459 -0.0065956654 0.9989290150
+140 13.7811221696 -6.2601073923 -4.3215425052 -0.0457309595 0.0042426605 -0.0134095217 0.9988547762
+152 13.3205678771 -5.9135389785 -4.5130067019 -0.0333782313 0.0049429857 -0.0207849101 0.9992144155
+164 11.5296513704 -5.5211736459 -5.1144445250 -0.0234619790 0.0102444296 -0.0262168903 0.9993284054
+176 11.0603608364 -5.9593666082 -5.7509687230 -0.0152933860 0.0074906912 -0.0211942989 0.9996303335
+188 11.7692462897 -7.6041702198 -5.8358747091 -0.0186218159 -0.0001110589 -0.0103376301 0.9997731488
+200 11.9264910742 -8.8909892144 -5.4487366223 -0.0227997872 -0.0094460009 -0.0034447626 0.9996894900
+212 9.4246106842 -7.5102449188 -4.8512305248 -0.0180550080 -0.0108609697 -0.0079323790 0.9997465346
+224 8.1255893340 -5.4336979165 -4.1417637330 -0.0107390870 -0.0126012013 -0.0084411844 0.9998272992
+236 8.5432684147 -5.6957826445 -3.9075473696 -0.0146043624 -0.0244361455 -0.0095098990 0.9995494731
+248 7.3974075516 -6.6672689080 -3.5040559085 -0.0251353311 -0.0300918277 -0.0175933896 0.9990761581
+260 5.7102779628 -5.4366777152 -2.9574162785 -0.0297474488 -0.0283232894 -0.0160547205 0.9990270900
+272 4.7177307324 -2.6908513499 -2.6218600988 -0.0283914462 -0.0244539850 -0.0153474180 0.9991798563
+284 6.2979995203 -3.1864964572 -1.8605469704 -0.0382600832 -0.0282173888 -0.0117286738 0.9988004722
+296 5.1604081105 -0.3016657041 -0.1967121271 -0.0356701266 -0.0136811467 -0.0138770416 0.9991736065
+305 7.2587829717 -1.2343537285 0.2496187125 -0.0442597177 -0.0184699135 -0.0123949927 0.9987723984
+317 10.5061548748 -3.2145980647 -0.5449803881 -0.0588330965 -0.0254557070 -0.0116168247 0.9978756050
+329 10.8251210475 -1.7673498923 -1.1065819379 -0.0538766696 -0.0196102649 -0.0144107671 0.9982510064
+341 9.7902556199 0.3250829503 -2.0633787263 -0.0438384949 -0.0056083827 -0.0171008689 0.9988765152
+353 10.6258688965 -0.5869222029 -1.7591330171 -0.0447820095 0.0054692924 -0.0159204550 0.9988549432
+365 10.2331078445 -1.4056186582 -2.5633084523 -0.0443390164 0.0159083584 -0.0142424768 0.9987883297
+377 10.4978865892 -3.0306299143 -3.2828387341 -0.0443355342 0.0181296262 -0.0193099306 0.9986655114
+389 11.5074998992 -6.1895360896 -5.7919702110 -0.0484800492 0.0115794885 -0.0272509295 0.9983851898
+401 12.5589024673 -8.1401404312 -7.0463054095 -0.0437919071 0.0048654904 -0.0384688116 0.9982879076
+413 10.5990556637 -6.5390277548 -7.4551204837 -0.0250950707 0.0116166780 -0.0465937931 0.9985310755
+425 8.1954816988 -5.2890225099 -7.2063551224 -0.0095350250 0.0182006601 -0.0470459260 0.9986813807
+437 7.4413570472 -5.1955900235 -6.9030866950 -0.0033793049 0.0156596022 -0.0399517875 0.9990731764
+449 8.4775062546 -6.8537562497 -6.4178779702 -0.0070880192 0.0028872414 -0.0290914889 0.9995474521
+461 8.2091875952 -8.5549477646 -6.2534050225 -0.0134771664 -0.0067229326 -0.0259954633 0.9995486001
+473 8.5414867560 -8.3051176244 -5.2470768256 -0.0138755278 -0.0172113200 -0.0261506022 0.9994135211
+485 7.5826461399 -7.1883175531 -5.2576004620 -0.0122117788 -0.0207978895 -0.0225868881 0.9994539273
+497 5.4711045176 -5.7958420557 -3.7572275928 -0.0105675027 -0.0225528058 -0.0232060672 0.9994204207
+509 4.2906747422 -3.4259495740 -2.3977324770 -0.0059707331 -0.0281754124 -0.0244182100 0.9992868695
+521 4.2850505654 -3.6683992144 -1.8014424071 -0.0152460257 -0.0355969849 -0.0223846852 0.9989991688
+533 7.1303768536 -6.6713358177 -2.0301294928 -0.0407831283 -0.0525504416 -0.0169360932 0.9976413966
+545 7.7290878492 -7.3866433825 -1.7136016871 -0.0562225120 -0.0537786397 -0.0120582894 0.9968959247
+557 8.7866869346 -6.3585614930 -0.6595333122 -0.0650477685 -0.0560169939 -0.0083802993 0.9962733836
+569 9.4773432087 -4.7490487152 -0.1039234410 -0.0666008474 -0.0555065897 -0.0057741212 0.9962178502
+581 9.8087942879 -4.3962764998 -0.7189205356 -0.0716443881 -0.0515400344 -0.0102317493 0.9960451886
+593 9.1236252857 -3.3144162973 -1.9992075459 -0.0692284519 -0.0448874689 -0.0141648288 0.9964897863
diff --git a/iMED_pe/train/session_007_scene_1_zoom_in/K.txt b/iMED_pe/train/session_007_scene_1_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/train/session_007_scene_1_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/train/session_007_scene_1_zoom_in/pose.txt b/iMED_pe/train/session_007_scene_1_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..55ee07d09d498614bd57ed5d496621efc5ffbc95
--- /dev/null
+++ b/iMED_pe/train/session_007_scene_1_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 -0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 0.0000000000 1.0000000000
+20 -3.4353935334 3.2553353949 0.5650786874 0.0108516092 0.0173256683 0.0007271105 0.9997907457
+32 -4.6674470718 4.1973837178 1.4388317046 0.0134633508 0.0240364227 -0.0015647509 0.9996191976
+44 -4.1646365644 2.6959656349 1.1848523057 0.0066732368 0.0215335152 -0.0012407496 0.9997450856
+56 -1.1857809166 0.0937794879 0.0859614298 -0.0046152805 0.0059263311 0.0002021269 0.9999717681
+68 2.6658125741 -3.4182614877 -0.6935054689 -0.0196990002 -0.0137878676 0.0045025790 0.9997007407
+80 2.9632185691 -4.3245077523 0.3300457274 -0.0203668944 -0.0146475662 0.0024886829 0.9996821719
+92 2.8985202125 -4.7462711495 0.5483896992 -0.0171565459 -0.0143830308 -0.0024694487 0.9997463094
+104 3.7621260592 -5.1806061372 1.5832495650 -0.0164332952 -0.0180327813 -0.0025749525 0.9996990223
+116 5.8329401288 -7.0143243553 3.5974290295 -0.0237249411 -0.0270883017 0.0003047284 0.9993514188
+128 6.2763649038 -6.3696286994 4.9947850806 -0.0190970265 -0.0292933389 -0.0001790168 0.9993883989
+140 4.2410361661 -3.6661455991 5.2112626038 -0.0051426879 -0.0196469962 -0.0014214288 0.9997927424
+152 3.4987524663 -3.1346792755 5.5182241022 -0.0024222794 -0.0156093741 0.0022834554 0.9998726248
+164 6.4112571774 -5.7639561112 6.3441178390 -0.0161228670 -0.0281288017 0.0093167519 0.9994308489
+176 5.3685759667 -5.4536941694 5.4084557006 -0.0166349391 -0.0241116776 0.0092001263 0.9995285206
+188 3.1005019223 -3.4095620992 3.3938438034 -0.0084752723 -0.0143767241 0.0040737510 0.9998524312
+200 -0.5747670855 0.1943406320 1.2438278681 0.0047986335 0.0021626877 0.0061289878 0.9999673652
+212 -0.5536759626 -0.3034014384 -0.4034620728 -0.0009220127 0.0016734926 0.0051597911 0.9999848628
+224 2.3161154740 -3.6697471786 -1.0999269765 -0.0201379480 -0.0115165076 0.0073747047 0.9997036795
+236 4.1057923811 -4.1528659433 -1.5505871086 -0.0264379855 -0.0202707251 0.0123499879 0.9993686049
+248 2.7498057968 -2.7311918259 -2.7341431554 -0.0246687666 -0.0152472692 0.0172026759 0.9994313587
+260 3.1393789296 -3.0531567917 -3.3538270849 -0.0292943853 -0.0172189538 0.0188083135 0.9992455124
+272 3.9125356196 -2.9246617156 -3.7455608504 -0.0316728400 -0.0211273971 0.0203065752 0.9990686199
+284 2.7359505384 -2.1828702807 -4.3136004747 -0.0288483074 -0.0167912352 0.0180629922 0.9992795194
+296 4.3380644266 -3.0446074425 -3.7167032255 -0.0319691081 -0.0248274912 0.0193417239 0.9989932280
+305 4.1174850210 -3.1667682979 -2.6932676472 -0.0303720512 -0.0234504184 0.0188445679 0.9990858315
+317 3.0561392597 -3.3774265184 -2.6248473210 -0.0275002732 -0.0178787233 0.0131621379 0.9993752270
+329 0.5282196329 -1.4495232035 -2.8192824668 -0.0128235914 -0.0063069628 -0.0014062683 0.9998968948
+341 0.4789782933 -0.7578624458 -1.9844022594 -0.0069711585 -0.0058831465 -0.0026320123 0.9999549310
+353 1.6892088230 -3.8707464164 -0.3737024611 -0.0192304525 -0.0095082260 0.0063802293 0.9997495066
+365 2.8149303995 -6.0260675885 0.6506737951 -0.0271466513 -0.0132620253 0.0097973882 0.9994954673
+377 3.6442544350 -5.6585106895 0.9228547649 -0.0235931050 -0.0163974683 0.0080043942 0.9995551101
+389 4.8151999789 -5.5027317062 1.5682799204 -0.0232780883 -0.0203935938 0.0135234469 0.9994295114
+401 6.2980188087 -6.2228543123 1.9718469162 -0.0290648370 -0.0280132579 0.0164987422 0.9990486896
+413 6.9331194436 -5.0038751982 1.1906208978 -0.0267035411 -0.0324294348 0.0142451891 0.9990156792
+425 4.7828305140 -2.3342928934 -0.4216136616 -0.0173858127 -0.0244689951 0.0051149504 0.9995363120
+437 2.1927107929 -1.5983804542 -2.6954673242 -0.0167956663 -0.0139991838 0.0024036430 0.9997580462
+449 1.3397992692 -3.7398642275 -5.5325970536 -0.0299442037 -0.0084982198 0.0155810140 0.9993939948
+461 1.5651362389 -4.3596072183 -6.8593751788 -0.0358834983 -0.0105348655 0.0182962431 0.9991329434
+473 0.9175073130 -3.8577180921 -7.9699530431 -0.0362204650 -0.0096635637 0.0193423475 0.9991098874
+485 -0.5219366902 -3.4715455295 -9.2338316884 -0.0361740432 -0.0054328827 0.0158424890 0.9992051531
+497 -0.1878798422 -3.5114914661 -10.0883339951 -0.0384414641 -0.0106964272 0.0093648736 0.9991597167
+509 -0.0539075476 -1.6152905513 -9.7853021197 -0.0306162358 -0.0131558620 0.0076387179 0.9994154388
+521 -1.6459549781 -1.0854571380 -9.7500864238 -0.0256489216 -0.0044359959 0.0112302848 0.9995980870
+533 -2.9339014020 -1.1294834567 -8.7077325037 -0.0227624872 0.0014238859 0.0098090965 0.9996917642
+545 -1.5962205936 -2.6022621575 -7.3552780468 -0.0262591246 -0.0049812119 0.0107224269 0.9995852517
+557 -2.0123124296 -0.4653262654 -5.1170677431 -0.0139622120 -0.0045492531 0.0096090660 0.9998460015
+569 -2.8240405741 0.6004801699 -3.5341643636 -0.0049211812 -0.0020800988 0.0057883519 0.9999689746
+581 -2.3757129033 0.0294913289 -1.3819331407 -0.0049774943 -0.0056940348 0.0061815330 0.9999522944
+593 0.2573959566 -3.2670165418 -0.3283944680 -0.0177191874 -0.0174011838 0.0098571882 0.9996429688
diff --git a/iMED_pe/train/session_007_scene_2_zoom_in/K.txt b/iMED_pe/train/session_007_scene_2_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/train/session_007_scene_2_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/train/session_007_scene_2_zoom_in/pose.txt b/iMED_pe/train/session_007_scene_2_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3211d572007d0f91ff07ad329c95cf8380631abb
--- /dev/null
+++ b/iMED_pe/train/session_007_scene_2_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 -0.0000000000 1.0000000000
+20 1.0466513864 0.7012384395 -1.4581736542 0.0043330121 -0.0067959617 0.0015177638 0.9999663676
+32 1.6667737597 0.4386163646 -1.2145223844 0.0043771309 -0.0087283017 0.0018344172 0.9999506450
+44 0.6348532545 -0.5908694170 0.9437814966 -0.0006184666 0.0011480875 -0.0009825556 0.9999986670
+56 0.1093057321 -1.0418971886 3.4528930671 -0.0043210211 0.0088438420 -0.0001241782 0.9999515487
+68 1.2501300278 -0.8996966118 5.7728690334 -0.0044419697 0.0069147304 0.0025213899 0.9999630483
+80 1.5947147357 -1.0908473500 7.5653973942 -0.0062372596 0.0072574055 0.0026762756 0.9999506309
+92 1.7951703071 -1.2231512430 8.0315261018 -0.0074761170 0.0069060170 0.0033326873 0.9999426523
+104 1.9673938148 -0.8269301401 7.4459430321 -0.0067905833 0.0045820248 0.0031928585 0.9999613486
+116 1.4742611668 -0.4993193773 5.7076107311 -0.0062094925 0.0031729174 0.0022468559 0.9999731629
+128 -0.1198867153 -0.3896832323 3.7142512200 -0.0060272044 0.0073669661 -0.0000845182 0.9999546957
+140 -1.6887698139 -0.1835343411 2.1397028970 -0.0055215757 0.0124954757 -0.0016017663 0.9999054003
+152 -1.8744835577 -0.0706837083 0.9631235174 -0.0052029953 0.0116582927 -0.0021968389 0.9999160900
+164 -0.9599175461 0.0075941662 0.3199219912 -0.0034472925 0.0080762944 0.0007351138 0.9999611739
+176 0.0265425086 -0.4611434172 1.2456310727 -0.0024112251 0.0072051183 0.0019430102 0.9999692480
+188 0.6247931537 -1.2072533441 2.5038543265 -0.0035419564 0.0079087958 0.0030296103 0.9999578626
+200 1.6455608314 -1.6416665983 4.2816660565 -0.0040539496 0.0067431323 0.0032160650 0.9999638756
+212 2.2623736282 -2.1097883152 5.9612877212 -0.0057066813 0.0066934789 0.0041812513 0.9999525730
+224 2.0179185371 -2.4091503262 6.9927233589 -0.0078173432 0.0092830195 0.0042755360 0.9999172138
+236 2.3420586915 -2.0923059396 6.4986645292 -0.0076833887 0.0059024096 0.0043022732 0.9999438072
+248 1.3685128810 -1.8437767880 5.4607443885 -0.0078844965 0.0074017828 0.0031541664 0.9999365478
+260 1.7846587341 -1.1731358835 3.9002481716 -0.0049724248 0.0010624181 0.0022782664 0.9999844778
+272 1.4331483019 -0.8275329983 2.3241483852 -0.0041401867 0.0009935398 0.0026982365 0.9999872955
+284 -0.4342153471 -0.2874304518 1.4376686551 -0.0037430760 0.0092112307 0.0012541523 0.9999497836
+296 -1.4277005311 -0.2786566834 0.3997641591 -0.0051644935 0.0117038729 -0.0002332257 0.9999181431
+305 -0.9046912983 0.0649187363 0.1169932347 -0.0038049576 0.0086342675 0.0002659544 0.9999554495
+317 -0.3192080783 0.1604258960 0.9158984866 -0.0023984347 0.0071313566 0.0007585883 0.9999714075
+329 0.3594692898 -0.3816524934 2.3331092886 -0.0040069477 0.0073301449 0.0012794257 0.9999642876
+341 1.0068309363 -0.5725035372 4.1856936595 -0.0045695546 0.0079390610 0.0024920169 0.9999549392
+353 1.3032975686 -1.0924090719 6.1290374333 -0.0071087239 0.0097910399 0.0023484759 0.9999240402
+365 1.7967629335 -1.4157839570 7.3572655802 -0.0089075382 0.0088650769 0.0030753508 0.9999163007
+377 3.1220397419 -1.0298667679 7.3005445356 -0.0073393909 0.0020391905 0.0038866809 0.9999634337
+389 1.1952943532 -1.1720958237 6.6994266173 -0.0095097630 0.0112579994 0.0035319059 0.9998851672
+401 0.2624660975 -1.0323689796 5.2433093448 -0.0096681131 0.0133644238 0.0023010139 0.9998613029
+413 0.4058057942 -0.6925432729 3.2029231967 -0.0074673877 0.0099312939 0.0022068729 0.9999203654
+425 -1.1926706616 -0.9890436863 1.2192588916 -0.0083095906 0.0165275186 0.0010963222 0.9998282802
+437 -0.6421438188 -0.5168881860 -0.3263568428 -0.0039948500 0.0109986857 0.0013069754 0.9999306785
+449 0.3937485784 -0.3610877724 -0.5451211571 -0.0012679985 0.0051428424 0.0022800825 0.9999833721
+461 -0.9826819796 -1.8676279157 0.6509354429 -0.0075639235 0.0143025286 -0.0008974862 0.9998687010
+473 -0.5146770059 -1.8869565420 1.9139540823 -0.0070126548 0.0148791643 -0.0005060397 0.9998645794
+485 0.1886385320 -1.6953068017 3.1397274452 -0.0050553590 0.0139589718 0.0011115224 0.9998891713
+497 1.0209939700 -1.9375630499 4.5129678368 -0.0056588189 0.0106671913 0.0011246301 0.9999264593
+509 1.0208124530 -2.2298447058 5.8272569575 -0.0074375569 0.0120757680 0.0015342943 0.9998982471
+521 0.6075640444 -2.1685483769 6.1205087659 -0.0090871895 0.0139665742 0.0012277548 0.9998604155
+533 0.5280855579 -1.4901605435 5.1110699892 -0.0085866217 0.0127191846 0.0017092886 0.9998807782
+545 -0.2498805564 -1.0546375119 3.7257890266 -0.0081723935 0.0133593872 0.0000887302 0.9998773579
+557 0.4381486688 0.0568676789 1.8586134365 -0.0029021921 0.0061073402 0.0009050918 0.9999767290
+569 -1.2430606215 -0.1288243713 0.4678911794 -0.0044293964 0.0125175688 -0.0013424474 0.9999109404
+581 -1.8178627619 -0.0451785046 -0.4004060123 -0.0041586364 0.0142834480 -0.0017577296 0.9998877933
+593 0.2056702651 0.9665755866 -0.4547725465 0.0018882693 0.0039170593 0.0004619916 0.9999904388
diff --git a/iMED_pe/train/session_007_scene_3_zoom_in/K.txt b/iMED_pe/train/session_007_scene_3_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/train/session_007_scene_3_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/train/session_007_scene_3_zoom_in/pose.txt b/iMED_pe/train/session_007_scene_3_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c4f20cf9418e0c67d0f0db472006618efeefa1a6
--- /dev/null
+++ b/iMED_pe/train/session_007_scene_3_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 0.0000000000 -0.0000000000 0.0000000000 0.0000000000 -0.0000000000 1.0000000000
+20 0.9601284371 -0.6015532213 1.4253956941 -0.0027207668 -0.0039570774 0.0006714592 0.9999882440
+32 2.2791835843 0.0102133303 2.6137153763 0.0023672816 -0.0108969290 -0.0043803843 0.9999282300
+44 2.0533691556 -0.5245386406 2.4974271260 -0.0007960526 -0.0095524817 -0.0003864409 0.9999539825
+56 0.2972219419 -0.9622828395 0.9101875934 -0.0047420343 -0.0017907817 0.0022349824 0.9999846554
+68 -0.9318380121 -1.1097014793 -1.0580794860 -0.0061065226 0.0012590982 0.0043568228 0.9999710712
+80 -0.8577551092 -1.0517404604 -2.9335424753 -0.0061051034 -0.0050041611 0.0057130075 0.9999525227
+92 -1.6237865314 -0.2029262127 -4.5353074649 -0.0010619675 -0.0050897324 0.0017603050 0.9999849340
+104 -2.1470608946 -0.1006477460 -5.4969420149 -0.0001839823 -0.0048772533 0.0018840224 0.9999863144
+116 -2.1472893021 -0.3973336871 -5.3467034077 -0.0021540465 -0.0046502186 0.0031982646 0.9999817532
+128 -1.5383979444 -0.9340646019 -4.2672114799 -0.0065732684 -0.0056396062 0.0069218508 0.9999385356
+140 -0.9447944365 -1.5027501098 -2.8971160845 -0.0105860942 -0.0053468112 0.0119643482 0.9998580902
+152 -0.6498950775 -0.9160152954 -1.0495777171 -0.0073032856 -0.0018785650 0.0099237936 0.9999223227
+164 -0.0100307613 -1.2578225657 -0.1139218230 -0.0097898274 -0.0034481361 0.0106672368 0.9998892337
+176 0.7503072532 -1.5551159122 0.9932892464 -0.0119549744 -0.0048672793 0.0109959489 0.9998562283
+188 0.6844926114 -1.0922482785 2.1912487320 -0.0097647502 -0.0006390465 0.0068898272 0.9999283832
+200 0.6045694713 -1.1981215857 1.9709135996 -0.0111115409 -0.0000295110 0.0078328974 0.9999075850
+212 0.5181430200 -0.8822179115 0.0760674920 -0.0106802043 -0.0050246911 0.0080933507 0.9998975865
+224 -0.4028621162 0.7957739430 -1.5576592558 -0.0021256876 -0.0040019181 0.0011986284 0.9999890146
+236 -0.7472163642 0.6279526171 -4.0075741747 -0.0022341768 -0.0095153898 0.0068478259 0.9999287840
+248 -2.3217069516 0.9913078886 -5.3815305164 0.0011671362 -0.0032789045 0.0029892728 0.9999894754
+260 -3.4108372706 1.1409904675 -5.7001373091 0.0040425808 0.0030448122 0.0013175146 0.9999863253
+272 -2.4091910440 0.0933328552 -5.9076135156 -0.0000210495 -0.0052204474 0.0065905169 0.9999646552
+284 -1.8094659615 0.2573678844 -4.5301129624 0.0018669185 -0.0056265620 0.0046069831 0.9999718157
+296 -0.4666513784 -0.3591678161 -3.0762314464 -0.0017615860 -0.0108065314 0.0078364240 0.9999093490
+305 -0.1297350459 0.0793764378 -1.9894477438 0.0013700190 -0.0102678847 0.0049551662 0.9999340678
+317 -0.4511244762 -0.4728876617 -0.6447383117 -0.0014633680 -0.0040712504 0.0052155020 0.9999770407
+329 -0.1262710125 -0.9538506143 0.9258809855 -0.0040921120 -0.0019101657 0.0068391004 0.9999664157
+341 -0.2439930204 -1.1844156027 1.5115002197 -0.0063075055 0.0020401236 0.0070497662 0.9999531759
+353 -0.4774257758 -0.9233919319 0.7832784430 -0.0055637937 0.0025700603 0.0081839264 0.9999477298
+365 -0.2972382133 -0.9897672226 -0.7923748337 -0.0081208184 -0.0033129867 0.0115019808 0.9998953850
+377 -1.4746646074 0.2666912182 -2.5533066208 -0.0020839969 -0.0010763270 0.0061141204 0.9999785578
+389 -1.2495270337 0.1036035430 -4.0342676690 -0.0032474547 -0.0089247165 0.0086217417 0.9999177311
+401 -1.5492236384 0.3260757328 -5.1076100871 -0.0025506814 -0.0119766734 0.0085137058 0.9998887789
+413 -2.1014922403 1.6530623314 -6.3594773343 0.0045968653 -0.0125279876 -0.0001911173 0.9999109369
+425 -2.4381264605 1.8101322865 -6.7532838080 0.0062427919 -0.0114097567 -0.0004733035 0.9999153069
+437 -2.1396848901 1.0830166631 -5.5590134058 0.0029334767 -0.0102373712 0.0039411106 0.9999355272
+449 -1.2471050076 -0.1379247270 -3.7688787472 -0.0041973671 -0.0115373256 0.0100115544 0.9998745126
+461 -1.0326738111 0.5189521470 -1.7184454884 -0.0006284142 -0.0076072656 0.0044611813 0.9999609155
+473 -0.3426873433 0.0204995729 -0.2750428115 -0.0033733403 -0.0068222059 0.0058792128 0.9999537554
+485 -0.2436192626 -0.3470527102 1.0960221726 -0.0049404249 -0.0021266979 0.0052688119 0.9999716541
+497 -0.1509258115 -0.3528317694 1.8191922326 -0.0041643109 -0.0000530469 0.0025223494 0.9999881467
+509 -0.2403364752 0.2637588533 1.5982119424 0.0005558877 0.0003356408 -0.0010598072 0.9999992276
+521 -0.3636098491 0.5647650231 0.2350752579 0.0029630070 -0.0021570400 -0.0015002385 0.9999921585
+533 -0.8340564088 -0.4293701799 -1.8588192615 -0.0027127807 -0.0048315968 0.0057667907 0.9999680198
+545 -1.0416781041 -0.5640255987 -3.6062401757 -0.0032489760 -0.0086749473 0.0087550598 0.9999187659
+557 -1.7699557907 -0.9654118741 -4.6087915785 -0.0056997270 -0.0066772181 0.0109165876 0.9999018732
+569 -1.9789302025 -0.7883702299 -5.0184927580 -0.0045028789 -0.0064688722 0.0102602056 0.9999162995
+581 -1.1542614623 0.1969147886 -4.4533621920 0.0023119493 -0.0113275784 0.0046809399 0.9999222118
+593 -2.1860797189 -0.2935419986 -3.2680555713 -0.0004452238 -0.0008553632 0.0034435407 0.9999936061
diff --git a/iMED_pe/train/session_007_scene_8_circular/K.txt b/iMED_pe/train/session_007_scene_8_circular/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/train/session_007_scene_8_circular/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/train/session_007_scene_8_circular/pose.txt b/iMED_pe/train/session_007_scene_8_circular/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8223e18576a380b8a81d489154b34c20941470cf
--- /dev/null
+++ b/iMED_pe/train/session_007_scene_8_circular/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 -0.0000000000 -0.0000000000 0.0000000000 -0.0000000000 -0.0000000000 1.0000000000
+20 -3.8288648665 0.0074076766 -0.1557204075 0.0006674091 0.0233485659 -0.0019024745 0.9997253521
+32 -2.7104121312 -0.0455801437 -0.6313829238 0.0042347255 0.0278228480 -0.0013121939 0.9996030384
+44 -2.7472051748 0.1042773644 -0.0023270866 0.0139137176 0.0359919939 -0.0014082140 0.9992542228
+56 -3.6132341832 -0.2233296222 0.3103782023 0.0220426479 0.0413521255 0.0000378517 0.9989014576
+68 0.3910237779 -0.6760167106 -1.1794141715 0.0313844066 0.0253043353 0.0024622087 0.9991839906
+80 -1.4591330509 -0.2457712469 -2.4447521968 0.0389282786 0.0245126526 0.0011005744 0.9989406928
+92 -4.3850456132 0.2333071744 -2.6178106291 0.0412435540 0.0269793302 -0.0025358064 0.9987815851
+104 -5.0678112554 -0.6840905450 -2.3273739921 0.0326602575 0.0203902805 -0.0022080725 0.9992560575
+116 -5.4644029780 -0.6241607650 -2.6281105588 0.0257964140 0.0178761656 -0.0003850715 0.9995072983
+128 -5.1565488238 0.1916308801 -2.3185246953 0.0159780346 0.0173749762 0.0030911540 0.9997165885
+140 -2.8835633818 1.5813790002 -3.2763061927 0.0154381913 0.0146453276 0.0046251283 0.9997628643
+152 -2.2500890215 2.4441077534 -4.5390831863 0.0167616842 0.0204805200 0.0055783694 0.9996341711
+164 -2.8655153352 3.0119036952 -3.9528398556 0.0210628064 0.0312580442 0.0051997053 0.9992758658
+176 -4.5957211206 2.0824204801 -1.7127020477 0.0228371196 0.0438017137 0.0032050565 0.9987740503
+188 -6.5250175196 1.6138733617 -0.4254506664 0.0279631641 0.0543426069 0.0025195781 0.9981275441
+200 -6.1990747010 0.6601919729 -0.9147140886 0.0365000906 0.0526438601 0.0023819100 0.9979432318
+212 -2.8611661109 0.4378874634 -2.4004035605 0.0426284260 0.0337235348 0.0054890317 0.9985065904
+224 -0.0780272479 0.2602829591 -1.8530224824 0.0419913089 0.0127843237 0.0073192582 0.9990093691
+236 -0.0011775354 -0.2403152267 -1.4906638466 0.0334772355 0.0012215733 0.0057115473 0.9994224135
+248 -6.2540067129 -1.3640267509 -2.3204925871 0.0189791981 0.0162183917 0.0010248470 0.9996878030
+260 -8.8081981402 -0.3635679928 -3.1098166359 0.0124446187 0.0273435918 0.0006404997 0.9995484226
+272 -2.8436324688 0.4673106377 -4.2927777074 0.0097768833 0.0141877729 0.0059673175 0.9998337416
+284 0.7903718676 1.3004478558 -5.2773478564 0.0109504972 0.0101997951 0.0095116382 0.9998427774
+296 2.2847491398 0.8976584391 -5.3896388059 0.0123792935 0.0133515178 0.0110195639 0.9997735040
+305 1.1523326680 -0.0261613609 -5.0294636854 0.0149743905 0.0213354050 0.0118585349 0.9995898875
+317 -2.9823478662 -1.2642639172 -3.9038914188 0.0216356827 0.0383881832 0.0082433982 0.9989946401
+329 -3.9548423995 -0.5043993634 -4.3542043595 0.0341793790 0.0412764350 0.0044193622 0.9985532010
+341 -1.8414545765 -0.3052507594 -5.1000818201 0.0441090515 0.0288045430 0.0022074968 0.9986089409
+353 0.4117707571 -1.6283691848 -5.0624383360 0.0427498703 0.0145126214 0.0046933132 0.9989693715
+365 0.9034005151 -1.3451654200 -5.0667290481 0.0411227216 0.0040718373 0.0040599984 0.9991375573
+377 -1.3695207174 -0.4367058717 -4.3587702188 0.0369331821 0.0047566166 0.0026724358 0.9993028434
+389 -3.7215581526 0.7972025672 -4.4553837586 0.0298518524 0.0080016388 0.0011442721 0.9995216513
+401 -3.2373480710 2.2063735248 -4.6565136215 0.0260480950 0.0078991645 0.0017146886 0.9996280107
+413 0.7003475495 3.9503788193 -5.7940453061 0.0248619684 0.0011701990 0.0068847194 0.9996665013
+425 1.4680980174 3.5107127526 -6.1113241119 0.0195423902 0.0088797985 0.0112293830 0.9997065295
+437 1.8850729271 3.5271038349 -7.0716754000 0.0226209605 0.0151937537 0.0124910601 0.9995506067
+449 0.9799080156 3.6238208386 -7.4627322360 0.0298143050 0.0222614855 0.0101444277 0.9992560353
+461 0.1086815003 3.2401009581 -7.5959551439 0.0384935275 0.0275408509 0.0070715100 0.9988542154
+473 -0.1090836358 3.1176940301 -7.9857156216 0.0516702082 0.0280057978 0.0034504062 0.9982654755
+485 -2.6085525072 3.1437591861 -8.2248657825 0.0617963042 0.0334704657 0.0005481555 0.9975272649
+497 -2.5124419301 1.7251627629 -7.6517353862 0.0620285271 0.0262566846 -0.0010669918 0.9977283748
+509 -2.9288490144 1.1185478527 -7.0923455424 0.0599605322 0.0180034430 -0.0022024080 0.9980359513
+521 -3.1893036720 0.2862658744 -6.4001242259 0.0515663657 0.0076394944 -0.0011511733 0.9986396862
+533 -3.9570513729 2.1862093840 -6.5998393058 0.0469224346 0.0025920410 0.0010045307 0.9988946678
+545 -2.6941707640 2.5835611657 -6.7040915075 0.0369838846 -0.0019181712 0.0048228513 0.9993023832
+557 -3.5774063744 1.1567378256 -7.5537181632 0.0218110339 0.0071083036 0.0080158939 0.9997047045
+569 -2.7209177886 1.3571736888 -8.3294253115 0.0173809043 0.0138078589 0.0102614293 0.9997009304
+581 -1.5896235681 1.7144411195 -6.9042516309 0.0186973642 0.0216477476 0.0102877738 0.9995378659
+593 -5.6668827112 2.4484442372 -4.3736194995 0.0232211297 0.0426853415 0.0103820855 0.9987647136
diff --git a/iMED_pe/train/session_007_scene_8_zoom_in/K.txt b/iMED_pe/train/session_007_scene_8_zoom_in/K.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bea6aa693de39aab2ad7a25ddc67670cc3a791c2
--- /dev/null
+++ b/iMED_pe/train/session_007_scene_8_zoom_in/K.txt
@@ -0,0 +1,17 @@
+# Camera intrinsic matrices (3x3)
+# K1_L (endoscope1 left)
+1034.9532969297 0.0000000000 569.6869757858
+0.0000000000 1031.5602572012 526.2092622238
+0.0000000000 0.0000000000 1.0000000000
+# K1_R (endoscope1 right)
+1031.1527905375 0.0000000000 661.7910972625
+0.0000000000 1028.3883636473 532.5345730887
+0.0000000000 0.0000000000 1.0000000000
+# K2_L (endoscope2 left)
+1012.8241204085 0.0000000000 582.0548301994
+0.0000000000 1019.8230942077 540.1900208663
+0.0000000000 0.0000000000 1.0000000000
+# K2_R (endoscope2 right)
+1010.4484629915 0.0000000000 675.6946167222
+0.0000000000 1016.5608440216 543.4113264276
+0.0000000000 0.0000000000 1.0000000000
diff --git a/iMED_pe/train/session_007_scene_8_zoom_in/pose.txt b/iMED_pe/train/session_007_scene_8_zoom_in/pose.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fd1f27fdb4c45702d8dbad1c8aeb3052ea6af66f
--- /dev/null
+++ b/iMED_pe/train/session_007_scene_8_zoom_in/pose.txt
@@ -0,0 +1,50 @@
+8 0.0000000000 -0.0000000000 -0.0000000000 0.0000000000 0.0000000000 -0.0000000000 1.0000000000
+20 1.2584468900 -0.0205129481 0.5244269913 0.0000547673 -0.0042470724 0.0021862082 0.9999885899
+32 3.8992519492 -0.1445825533 1.2474683594 -0.0000856767 -0.0129006868 0.0026613432 0.9999132373
+41 0.6473652476 0.0865401961 3.0484545531 0.0002542753 0.0002042051 0.0005179184 0.9999998127
+53 -2.2707915010 0.7424652573 4.1483214542 0.0020703174 0.0117731555 -0.0017499433 0.9999270195
+65 -2.1349494625 0.1987553235 3.2762266311 0.0000822970 0.0110079738 -0.0021679576 0.9999370569
+77 0.5208197204 -0.0556748690 -0.3407778278 0.0005437607 -0.0004488341 -0.0002507209 0.9999997200
+86 2.1452053467 0.5528891588 -3.1937098090 0.0041233679 -0.0086612806 -0.0007086283 0.9999537379
+98 4.3368187550 0.4402611852 -4.2282468927 0.0052455486 -0.0183708619 -0.0018899155 0.9998156950
+110 5.7746601994 -0.3649237065 -4.1999737585 0.0038261526 -0.0238829886 -0.0028047422 0.9997035045
+122 2.7445304383 0.8440952177 -1.6971359678 0.0083822462 -0.0118298500 -0.0028905837 0.9998907126
+131 1.7118366006 0.7202170058 -0.2450496710 0.0075332404 -0.0074375372 -0.0029923352 0.9999394878
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