diff --git a/mono-kitti/demo/06_seq/merger/kitti_out/output.mp4 b/mono-kitti/demo/06_seq/merger/kitti_out/output.mp4
index 06eca80b..6909a3a2 100644
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diff --git a/mono-kitti/stats_all.ubjson b/mono-kitti/stats_all.ubjson
index e82f0829..e6b2a3c9 100644
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diff --git a/mono-kitti/stats_sums.ubjson b/mono-kitti/stats_sums.ubjson
index dc48bd4f..69e6ab53 100644
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diff --git a/mono-kitti/stats_vio.ubjson b/mono-kitti/stats_vio.ubjson
index e72c3f22..91440cb1 100644
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diff --git a/tum_vi/dataset-corridor4_512_16/f_dataset-corridor4_512_16_mono_orb_slam3.txt b/tum_vi/dataset-corridor4_512_16/f_dataset-corridor4_512_16_mono_orb_slam3.txt
index 95c23711..2b2e374e 100644
--- a/tum_vi/dataset-corridor4_512_16/f_dataset-corridor4_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-corridor4_512_16/f_dataset-corridor4_512_16_mono_orb_slam3.txt
@@ -1,1909 +1,1908 @@
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diff --git a/tum_vi/dataset-corridor4_512_16/f_dataset-corridor4_512_16_mono_orb_slam3_raw.txt b/tum_vi/dataset-corridor4_512_16/f_dataset-corridor4_512_16_mono_orb_slam3_raw.txt
index 2743883a..e51216cc 100644
--- a/tum_vi/dataset-corridor4_512_16/f_dataset-corridor4_512_16_mono_orb_slam3_raw.txt
+++ b/tum_vi/dataset-corridor4_512_16/f_dataset-corridor4_512_16_mono_orb_slam3_raw.txt
@@ -1,1909 +1,1909 @@
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diff --git a/tum_vi/dataset-corridor4_512_16/f_dataset-corridor4_512_16_mono_orb_slam3_raw2.txt b/tum_vi/dataset-corridor4_512_16/f_dataset-corridor4_512_16_mono_orb_slam3_raw2.txt
new file mode 100644
index 00000000..37dfb4f5
--- /dev/null
+++ b/tum_vi/dataset-corridor4_512_16/f_dataset-corridor4_512_16_mono_orb_slam3_raw2.txt
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diff --git a/tum_vi/dataset-corridor4_512_16/kf_dataset-corridor4_512_16_mono_orb_slam3.txt b/tum_vi/dataset-corridor4_512_16/kf_dataset-corridor4_512_16_mono_orb_slam3.txt
index f1d7fcf7..02009f18 100644
--- a/tum_vi/dataset-corridor4_512_16/kf_dataset-corridor4_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-corridor4_512_16/kf_dataset-corridor4_512_16_mono_orb_slam3.txt
@@ -1,422 +1,281 @@
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diff --git a/tum_vi/dataset-corridor4_512_16/orb_slam3_raw_mono_errors.txt b/tum_vi/dataset-corridor4_512_16/orb_slam3_raw_mono_errors.txt
index ef7559d5..f4742037 100644
--- a/tum_vi/dataset-corridor4_512_16/orb_slam3_raw_mono_errors.txt
+++ b/tum_vi/dataset-corridor4_512_16/orb_slam3_raw_mono_errors.txt
@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.7255444017773809 m.
-RMSError without scaling parameter: 0.7306660443839946 m.
\ No newline at end of file
+RMSError using scaling parameter: 0.7037426134104041 m.
+RMSError without scaling parameter: 1.2350518553658483 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-corridor4_512_16/orb_slam3_raw_mono_trajectory.png b/tum_vi/dataset-corridor4_512_16/orb_slam3_raw_mono_trajectory.png
index f9798fe2..3ed4e8ec 100644
Binary files a/tum_vi/dataset-corridor4_512_16/orb_slam3_raw_mono_trajectory.png and b/tum_vi/dataset-corridor4_512_16/orb_slam3_raw_mono_trajectory.png differ
diff --git a/tum_vi/dataset-corridor4_512_16/orb_slam3_raw_mono_trajectory_GT.png b/tum_vi/dataset-corridor4_512_16/orb_slam3_raw_mono_trajectory_GT.png
index 7960b8b2..6c1878be 100644
Binary files a/tum_vi/dataset-corridor4_512_16/orb_slam3_raw_mono_trajectory_GT.png and b/tum_vi/dataset-corridor4_512_16/orb_slam3_raw_mono_trajectory_GT.png differ
diff --git a/tum_vi/dataset-magistrale5_512_16/f_dataset-magistrale5_512_16_mono_orb_slam3.txt b/tum_vi/dataset-magistrale5_512_16/f_dataset-magistrale5_512_16_mono_orb_slam3.txt
index f1b3646f..5f8b1c44 100644
--- a/tum_vi/dataset-magistrale5_512_16/f_dataset-magistrale5_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-magistrale5_512_16/f_dataset-magistrale5_512_16_mono_orb_slam3.txt
@@ -1,8916 +1,8915 @@
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diff --git a/tum_vi/dataset-magistrale5_512_16/f_dataset-magistrale5_512_16_mono_orb_slam3_raw.txt b/tum_vi/dataset-magistrale5_512_16/f_dataset-magistrale5_512_16_mono_orb_slam3_raw.txt
index cbd4960a..cd73d60d 100644
--- a/tum_vi/dataset-magistrale5_512_16/f_dataset-magistrale5_512_16_mono_orb_slam3_raw.txt
+++ b/tum_vi/dataset-magistrale5_512_16/f_dataset-magistrale5_512_16_mono_orb_slam3_raw.txt
@@ -1,8916 +1,8916 @@
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diff --git a/tum_vi/dataset-magistrale5_512_16/f_dataset-magistrale5_512_16_mono_orb_slam3_raw2.txt b/tum_vi/dataset-magistrale5_512_16/f_dataset-magistrale5_512_16_mono_orb_slam3_raw2.txt
new file mode 100644
index 00000000..35a03ff4
--- /dev/null
+++ b/tum_vi/dataset-magistrale5_512_16/f_dataset-magistrale5_512_16_mono_orb_slam3_raw2.txt
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diff --git a/tum_vi/dataset-magistrale5_512_16/kf_dataset-magistrale5_512_16_mono_orb_slam3.txt b/tum_vi/dataset-magistrale5_512_16/kf_dataset-magistrale5_512_16_mono_orb_slam3.txt
index e8f44070..195d2514 100644
--- a/tum_vi/dataset-magistrale5_512_16/kf_dataset-magistrale5_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-magistrale5_512_16/kf_dataset-magistrale5_512_16_mono_orb_slam3.txt
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diff --git a/tum_vi/dataset-magistrale5_512_16/orb_slam3_raw_mono_errors.txt b/tum_vi/dataset-magistrale5_512_16/orb_slam3_raw_mono_errors.txt
index d1e7e5d3..22733bb4 100644
--- a/tum_vi/dataset-magistrale5_512_16/orb_slam3_raw_mono_errors.txt
+++ b/tum_vi/dataset-magistrale5_512_16/orb_slam3_raw_mono_errors.txt
@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.9467889885673086 m.
-RMSError without scaling parameter: 0.954134136027775 m.
\ No newline at end of file
+RMSError using scaling parameter: 0.9760727697176834 m.
+RMSError without scaling parameter: 3.631218164394461 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-magistrale5_512_16/orb_slam3_raw_mono_trajectory.png b/tum_vi/dataset-magistrale5_512_16/orb_slam3_raw_mono_trajectory.png
index 6ac05d5a..a8aa51f2 100644
Binary files a/tum_vi/dataset-magistrale5_512_16/orb_slam3_raw_mono_trajectory.png and b/tum_vi/dataset-magistrale5_512_16/orb_slam3_raw_mono_trajectory.png differ
diff --git a/tum_vi/dataset-magistrale5_512_16/orb_slam3_raw_mono_trajectory_GT.png b/tum_vi/dataset-magistrale5_512_16/orb_slam3_raw_mono_trajectory_GT.png
index d6953e44..391b03c7 100644
Binary files a/tum_vi/dataset-magistrale5_512_16/orb_slam3_raw_mono_trajectory_GT.png and b/tum_vi/dataset-magistrale5_512_16/orb_slam3_raw_mono_trajectory_GT.png differ
diff --git a/tum_vi/dataset-outdoors2_512_16/f_dataset-outdoors2_512_16_mono_orb_slam3.txt b/tum_vi/dataset-outdoors2_512_16/f_dataset-outdoors2_512_16_mono_orb_slam3.txt
index 19a03b60..891f0a64 100644
--- a/tum_vi/dataset-outdoors2_512_16/f_dataset-outdoors2_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-outdoors2_512_16/f_dataset-outdoors2_512_16_mono_orb_slam3.txt
@@ -1,18430 +1,9447 @@
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diff --git a/tum_vi/dataset-outdoors2_512_16/f_dataset-outdoors2_512_16_mono_orb_slam3_raw.txt b/tum_vi/dataset-outdoors2_512_16/f_dataset-outdoors2_512_16_mono_orb_slam3_raw.txt
index 6b02c94c..d85cde6e 100644
--- a/tum_vi/dataset-outdoors2_512_16/f_dataset-outdoors2_512_16_mono_orb_slam3_raw.txt
+++ b/tum_vi/dataset-outdoors2_512_16/f_dataset-outdoors2_512_16_mono_orb_slam3_raw.txt
@@ -1,18371 +1,18376 @@
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diff --git a/tum_vi/dataset-outdoors2_512_16/f_dataset-outdoors2_512_16_mono_orb_slam3_raw2.txt b/tum_vi/dataset-outdoors2_512_16/f_dataset-outdoors2_512_16_mono_orb_slam3_raw2.txt
new file mode 100644
index 00000000..c4f56a66
--- /dev/null
+++ b/tum_vi/dataset-outdoors2_512_16/f_dataset-outdoors2_512_16_mono_orb_slam3_raw2.txt
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diff --git a/tum_vi/dataset-outdoors2_512_16/kf_dataset-outdoors2_512_16_mono_orb_slam3.txt b/tum_vi/dataset-outdoors2_512_16/kf_dataset-outdoors2_512_16_mono_orb_slam3.txt
index f1834dc0..8d927255 100644
--- a/tum_vi/dataset-outdoors2_512_16/kf_dataset-outdoors2_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-outdoors2_512_16/kf_dataset-outdoors2_512_16_mono_orb_slam3.txt
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diff --git a/tum_vi/dataset-outdoors2_512_16/orb_slam3_raw_mono_errors.txt b/tum_vi/dataset-outdoors2_512_16/orb_slam3_raw_mono_errors.txt
index e60894e5..6bb6abf8 100644
--- a/tum_vi/dataset-outdoors2_512_16/orb_slam3_raw_mono_errors.txt
+++ b/tum_vi/dataset-outdoors2_512_16/orb_slam3_raw_mono_errors.txt
@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.8116295780048978 m.
-RMSError without scaling parameter: 0.8132487555592028 m.
\ No newline at end of file
+RMSError using scaling parameter: 0.858206801031308 m.
+RMSError without scaling parameter: 18.07741672697121 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-outdoors2_512_16/orb_slam3_raw_mono_trajectory.png b/tum_vi/dataset-outdoors2_512_16/orb_slam3_raw_mono_trajectory.png
index de00f4db..480928d7 100644
Binary files a/tum_vi/dataset-outdoors2_512_16/orb_slam3_raw_mono_trajectory.png and b/tum_vi/dataset-outdoors2_512_16/orb_slam3_raw_mono_trajectory.png differ
diff --git a/tum_vi/dataset-outdoors2_512_16/orb_slam3_raw_mono_trajectory_GT.png b/tum_vi/dataset-outdoors2_512_16/orb_slam3_raw_mono_trajectory_GT.png
index 95020476..3e06405f 100644
Binary files a/tum_vi/dataset-outdoors2_512_16/orb_slam3_raw_mono_trajectory_GT.png and b/tum_vi/dataset-outdoors2_512_16/orb_slam3_raw_mono_trajectory_GT.png differ
diff --git a/tum_vi/dataset-outdoors4_512_16/f_dataset-outdoors4_512_16_mono_orb_slam3.txt b/tum_vi/dataset-outdoors4_512_16/f_dataset-outdoors4_512_16_mono_orb_slam3.txt
index de23fde9..1563a599 100644
--- a/tum_vi/dataset-outdoors4_512_16/f_dataset-outdoors4_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-outdoors4_512_16/f_dataset-outdoors4_512_16_mono_orb_slam3.txt
@@ -1,9105 +1,13954 @@
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diff --git a/tum_vi/dataset-outdoors4_512_16/f_dataset-outdoors4_512_16_mono_orb_slam3_raw.txt b/tum_vi/dataset-outdoors4_512_16/f_dataset-outdoors4_512_16_mono_orb_slam3_raw.txt
index b8d19957..c6c63e7e 100644
--- a/tum_vi/dataset-outdoors4_512_16/f_dataset-outdoors4_512_16_mono_orb_slam3_raw.txt
+++ b/tum_vi/dataset-outdoors4_512_16/f_dataset-outdoors4_512_16_mono_orb_slam3_raw.txt
@@ -1,13832 +1,13955 @@
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diff --git a/tum_vi/dataset-outdoors4_512_16/f_dataset-outdoors4_512_16_mono_orb_slam3_raw2.txt b/tum_vi/dataset-outdoors4_512_16/f_dataset-outdoors4_512_16_mono_orb_slam3_raw2.txt
new file mode 100644
index 00000000..47fe66f7
--- /dev/null
+++ b/tum_vi/dataset-outdoors4_512_16/f_dataset-outdoors4_512_16_mono_orb_slam3_raw2.txt
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diff --git a/tum_vi/dataset-outdoors4_512_16/kf_dataset-outdoors4_512_16_mono_orb_slam3.txt b/tum_vi/dataset-outdoors4_512_16/kf_dataset-outdoors4_512_16_mono_orb_slam3.txt
index c9424048..d60d5e5d 100644
--- a/tum_vi/dataset-outdoors4_512_16/kf_dataset-outdoors4_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-outdoors4_512_16/kf_dataset-outdoors4_512_16_mono_orb_slam3.txt
@@ -1,865 +1,1215 @@
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diff --git a/tum_vi/dataset-outdoors4_512_16/orb_slam3_raw_mono_errors.txt b/tum_vi/dataset-outdoors4_512_16/orb_slam3_raw_mono_errors.txt
index c53bcda3..29eb1d8c 100644
--- a/tum_vi/dataset-outdoors4_512_16/orb_slam3_raw_mono_errors.txt
+++ b/tum_vi/dataset-outdoors4_512_16/orb_slam3_raw_mono_errors.txt
@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.789034673613864 m.
-RMSError without scaling parameter: 0.8196090009033936 m.
\ No newline at end of file
+RMSError using scaling parameter: 0.8053209771554996 m.
+RMSError without scaling parameter: 22.95478181503976 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-outdoors4_512_16/orb_slam3_raw_mono_trajectory.png b/tum_vi/dataset-outdoors4_512_16/orb_slam3_raw_mono_trajectory.png
index 2e8f246d..d021982c 100644
Binary files a/tum_vi/dataset-outdoors4_512_16/orb_slam3_raw_mono_trajectory.png and b/tum_vi/dataset-outdoors4_512_16/orb_slam3_raw_mono_trajectory.png differ
diff --git a/tum_vi/dataset-outdoors4_512_16/orb_slam3_raw_mono_trajectory_GT.png b/tum_vi/dataset-outdoors4_512_16/orb_slam3_raw_mono_trajectory_GT.png
index 8f9657b2..128c17e3 100644
Binary files a/tum_vi/dataset-outdoors4_512_16/orb_slam3_raw_mono_trajectory_GT.png and b/tum_vi/dataset-outdoors4_512_16/orb_slam3_raw_mono_trajectory_GT.png differ
diff --git a/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_mono_orb_slam3.txt b/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_mono_orb_slam3.txt
index d6f76d79..81b7fee6 100644
--- a/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_mono_orb_slam3.txt
@@ -1,2721 +1,2724 @@
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diff --git a/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_mono_orb_slam3_raw.txt b/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_mono_orb_slam3_raw.txt
index 8a3a57ef..d1110cfd 100644
--- a/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_mono_orb_slam3_raw.txt
+++ b/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_mono_orb_slam3_raw.txt
@@ -1,2721 +1,2723 @@
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diff --git a/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_mono_orb_slam3_raw2.txt b/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_mono_orb_slam3_raw2.txt
new file mode 100644
index 00000000..1b0a3746
--- /dev/null
+++ b/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_mono_orb_slam3_raw2.txt
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diff --git a/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_monoi_orb_slam3.txt b/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_monoi_orb_slam3.txt
new file mode 100644
index 00000000..892f7166
--- /dev/null
+++ b/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_monoi_orb_slam3.txt
@@ -0,0 +1,2713 @@
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diff --git a/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_monoi_orb_slam3_raw.txt b/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_monoi_orb_slam3_raw.txt
deleted file mode 100644
index fcdd3a5e..00000000
--- a/tum_vi/dataset-room1_512_16/f_dataset-room1_512_16_monoi_orb_slam3_raw.txt
+++ /dev/null
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diff --git a/tum_vi/dataset-room1_512_16/kf_dataset-room1_512_16_mono_orb_slam3.txt b/tum_vi/dataset-room1_512_16/kf_dataset-room1_512_16_mono_orb_slam3.txt
index daa01995..effe93b4 100644
--- a/tum_vi/dataset-room1_512_16/kf_dataset-room1_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-room1_512_16/kf_dataset-room1_512_16_mono_orb_slam3.txt
@@ -1,93 +1,196 @@
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diff --git a/tum_vi/dataset-room1_512_16/orb_slam3_mono_errors.txt b/tum_vi/dataset-room1_512_16/orb_slam3_mono_errors.txt
new file mode 100644
index 00000000..fbb0e287
--- /dev/null
+++ b/tum_vi/dataset-room1_512_16/orb_slam3_mono_errors.txt
@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.3200183197747543 m.
+RMSError without scaling parameter: 0.9990597156008401 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-room1_512_16/orb_slam3_monoi_errors.txt b/tum_vi/dataset-room1_512_16/orb_slam3_monoi_errors.txt
new file mode 100644
index 00000000..9cc12cd5
--- /dev/null
+++ b/tum_vi/dataset-room1_512_16/orb_slam3_monoi_errors.txt
@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.1891938826663816 m.
+RMSError without scaling parameter: 0.19846855891826665 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-room2_512_16/f_dataset-room2_512_16_mono_orb_slam3.txt b/tum_vi/dataset-room2_512_16/f_dataset-room2_512_16_mono_orb_slam3.txt
index 4f521914..f3e86068 100644
--- a/tum_vi/dataset-room2_512_16/f_dataset-room2_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-room2_512_16/f_dataset-room2_512_16_mono_orb_slam3.txt
@@ -1,2849 +1,2849 @@
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diff --git a/tum_vi/dataset-room2_512_16/f_dataset-room2_512_16_mono_orb_slam3_offline.txt b/tum_vi/dataset-room2_512_16/f_dataset-room2_512_16_mono_orb_slam3_offline.txt
new file mode 100644
index 00000000..a418af9e
--- /dev/null
+++ b/tum_vi/dataset-room2_512_16/f_dataset-room2_512_16_mono_orb_slam3_offline.txt
@@ -0,0 +1,2848 @@
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diff --git a/tum_vi/dataset-room2_512_16/f_dataset-room2_512_16_mono_orb_slam3_raw.txt b/tum_vi/dataset-room2_512_16/f_dataset-room2_512_16_mono_orb_slam3_raw.txt
deleted file mode 100644
index 85cf6ec0..00000000
--- a/tum_vi/dataset-room2_512_16/f_dataset-room2_512_16_mono_orb_slam3_raw.txt
+++ /dev/null
@@ -1,2849 +0,0 @@
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diff --git a/tum_vi/dataset-room2_512_16/kf_dataset-room2_512_16_mono_orb_slam3.txt b/tum_vi/dataset-room2_512_16/kf_dataset-room2_512_16_mono_orb_slam3.txt
index 074ea888..9b4eeaef 100644
--- a/tum_vi/dataset-room2_512_16/kf_dataset-room2_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-room2_512_16/kf_dataset-room2_512_16_mono_orb_slam3.txt
@@ -1,102 +1,321 @@
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diff --git a/tum_vi/dataset-room2_512_16/orb_slam3_mono_errors.txt b/tum_vi/dataset-room2_512_16/orb_slam3_mono_errors.txt
new file mode 100644
index 00000000..a35b9966
--- /dev/null
+++ b/tum_vi/dataset-room2_512_16/orb_slam3_mono_errors.txt
@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.7425479503070882 m.
+RMSError without scaling parameter: 1.1957714946221405 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-room3_512_16/.txt_converted.txt b/tum_vi/dataset-room3_512_16/.txt_converted.txt
deleted file mode 100644
index 862d035a..00000000
--- a/tum_vi/dataset-room3_512_16/.txt_converted.txt
+++ /dev/null
@@ -1,1450 +0,0 @@
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diff --git a/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_mono_orb_slam3.txt b/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_mono_orb_slam3.txt
deleted file mode 100644
index 8c3ce906..00000000
--- a/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_mono_orb_slam3.txt
+++ /dev/null
@@ -1,2802 +0,0 @@
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diff --git a/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_mono_orb_slam3_raw.txt b/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_mono_orb_slam3_raw.txt
deleted file mode 100644
index 7f7c46e4..00000000
--- a/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_mono_orb_slam3_raw.txt
+++ /dev/null
@@ -1,2801 +0,0 @@
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diff --git a/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_mono_orb_slam3_raw2_atlas.txt b/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_mono_orb_slam3_raw2_atlas.txt
new file mode 100644
index 00000000..3623083f
--- /dev/null
+++ b/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_mono_orb_slam3_raw2_atlas.txt
@@ -0,0 +1,2822 @@
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diff --git a/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_mono_orb_slam3_raw_atlas.txt b/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_mono_orb_slam3_raw_atlas.txt
new file mode 100644
index 00000000..00913e6d
--- /dev/null
+++ b/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_mono_orb_slam3_raw_atlas.txt
@@ -0,0 +1,2807 @@
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diff --git a/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_monoi_orb_slam3.txt b/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_monoi_orb_slam3.txt
deleted file mode 100644
index 5fa0ef3f..00000000
--- a/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_monoi_orb_slam3.txt
+++ /dev/null
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diff --git a/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_monoi_orb_slam3_raw.txt b/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_monoi_orb_slam3_raw.txt
deleted file mode 100644
index 57397477..00000000
--- a/tum_vi/dataset-room3_512_16/f_dataset-room3_512_16_monoi_orb_slam3_raw.txt
+++ /dev/null
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diff --git a/tum_vi/dataset-room3_512_16/kf_dataset-room3_512_16_mono_orb_slam3.txt b/tum_vi/dataset-room3_512_16/kf_dataset-room3_512_16_mono_orb_slam3.txt
deleted file mode 100644
index e5cd0919..00000000
--- a/tum_vi/dataset-room3_512_16/kf_dataset-room3_512_16_mono_orb_slam3.txt
+++ /dev/null
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diff --git a/tum_vi/dataset-room3_512_16/kf_dataset-room3_512_16_monoi_orb_slam3.txt b/tum_vi/dataset-room3_512_16/kf_dataset-room3_512_16_monoi_orb_slam3.txt
deleted file mode 100644
index 73b1404b..00000000
--- a/tum_vi/dataset-room3_512_16/kf_dataset-room3_512_16_monoi_orb_slam3.txt
+++ /dev/null
@@ -1,128 +0,0 @@
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diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_errors_Atlas-.txt b/tum_vi/dataset-room3_512_16/orb_slam3_errors_Atlas-.txt
deleted file mode 100644
index 2974a498..00000000
--- a/tum_vi/dataset-room3_512_16/orb_slam3_errors_Atlas-.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-RMSError using scaling parameter: 0.13871087140080846 m.
-RMSError without scaling parameter: 1.0269982867698852 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_errors_Atlas+.txt b/tum_vi/dataset-room3_512_16/orb_slam3_mono_errors_Atlas+.txt
deleted file mode 100644
index d7e92761..00000000
--- a/tum_vi/dataset-room3_512_16/orb_slam3_mono_errors_Atlas+.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-RMSError using scaling parameter: 0.12578308177292605 m.
-RMSError without scaling parameter: 1.2342704558499278 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_trajectory.png b/tum_vi/dataset-room3_512_16/orb_slam3_mono_trajectory.png
deleted file mode 100644
index 93a9113a..00000000
Binary files a/tum_vi/dataset-room3_512_16/orb_slam3_mono_trajectory.png and /dev/null differ
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_trajectory_GT.png b/tum_vi/dataset-room3_512_16/orb_slam3_mono_trajectory_GT.png
deleted file mode 100644
index 613b28fc..00000000
Binary files a/tum_vi/dataset-room3_512_16/orb_slam3_mono_trajectory_GT.png and /dev/null differ
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/f_dataset-room3_512_16_mono_orb_slam3.txt b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/f_dataset-room3_512_16_mono_orb_slam3.txt
index c9043707..daf41d83 100644
--- a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/f_dataset-room3_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/f_dataset-room3_512_16_mono_orb_slam3.txt
@@ -1,2807 +1,2807 @@
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diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/f_dataset-room3_512_16_mono_orb_slam3_raw.txt b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/f_dataset-room3_512_16_mono_orb_slam3_raw.txt
index e5f22155..460554a3 100644
--- a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/f_dataset-room3_512_16_mono_orb_slam3_raw.txt
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/f_dataset-room3_512_16_mono_orb_slam3_raw.txt
@@ -1,2807 +1,2807 @@
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diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/f_dataset-room3_512_16_mono_orb_slam3_raw2.txt b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/f_dataset-room3_512_16_mono_orb_slam3_raw2.txt
new file mode 100644
index 00000000..9c026b54
--- /dev/null
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/f_dataset-room3_512_16_mono_orb_slam3_raw2.txt
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diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/kf_dataset-room3_512_16_mono_orb_slam3.txt b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/kf_dataset-room3_512_16_mono_orb_slam3.txt
index 8cbace1b..82f8cbba 100644
--- a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/kf_dataset-room3_512_16_mono_orb_slam3.txt
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/kf_dataset-room3_512_16_mono_orb_slam3.txt
@@ -1,151 +1,123 @@
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diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_mono_errors.txt b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_mono_errors.txt
index 2974a498..cfa6aa1b 100644
--- a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_mono_errors.txt
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_mono_errors.txt
@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.13871087140080846 m.
-RMSError without scaling parameter: 1.0269982867698852 m.
\ No newline at end of file
+RMSError using scaling parameter: 0.09649644147617925 m.
+RMSError without scaling parameter: 1.069281604480391 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_mono_trajectory.png b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_mono_trajectory.png
index ac74c14d..8790b9f3 100644
Binary files a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_mono_trajectory.png and b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_mono_trajectory.png differ
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_mono_trajectory_GT.png b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_mono_trajectory_GT.png
index e9e3771f..2aaddb69 100644
Binary files a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_mono_trajectory_GT.png and b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_mono_trajectory_GT.png differ
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw2_mono_errors.txt b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw2_mono_errors.txt
new file mode 100644
index 00000000..84197c93
--- /dev/null
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw2_mono_errors.txt
@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.6760302752298168 m.
+RMSError without scaling parameter: 1.1219396363397824 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw_mono_errors.txt b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw_mono_errors.txt
index f19083bd..4dc4a4d2 100644
--- a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw_mono_errors.txt
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw_mono_errors.txt
@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.6797917558458291 m.
-RMSError without scaling parameter: 1.0977085013673655 m.
\ No newline at end of file
+RMSError using scaling parameter: 0.18288081804167958 m.
+RMSError without scaling parameter: 1.0695741511409924 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw_mono_trajectory.png b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw_mono_trajectory.png
index a13a0351..355c6b7f 100644
Binary files a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw_mono_trajectory.png and b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw_mono_trajectory.png differ
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw_mono_trajectory_GT.png b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw_mono_trajectory_GT.png
index 500101fe..7db3eb82 100644
Binary files a/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw_mono_trajectory_GT.png and b/tum_vi/dataset-room3_512_16/orb_slam3_mono_without_atlas/orb_slam3_raw_mono_trajectory_GT.png differ
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/f_dataset-room3_512_16_monoi_orb_slam3.txt b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/f_dataset-room3_512_16_monoi_orb_slam3.txt
index 624ddd75..cb2b1e43 100644
--- a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/f_dataset-room3_512_16_monoi_orb_slam3.txt
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/f_dataset-room3_512_16_monoi_orb_slam3.txt
@@ -1,2517 +1,2687 @@
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diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/f_dataset-room3_512_16_monoi_orb_slam3_raw.txt b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/f_dataset-room3_512_16_monoi_orb_slam3_raw.txt
index 7167ac83..4b4ea33c 100644
--- a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/f_dataset-room3_512_16_monoi_orb_slam3_raw.txt
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/f_dataset-room3_512_16_monoi_orb_slam3_raw.txt
@@ -1,2783 +1,2794 @@
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diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/kf_dataset-room3_512_16_monoi_orb_slam3.txt b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/kf_dataset-room3_512_16_monoi_orb_slam3.txt
index ada36b0a..6d6ef8c7 100644
--- a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/kf_dataset-room3_512_16_monoi_orb_slam3.txt
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/kf_dataset-room3_512_16_monoi_orb_slam3.txt
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diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_errors.txt b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_errors.txt
index d4da302d..c8f66eb0 100644
--- a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_errors.txt
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_errors.txt
@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.01311947062996324 m.
-RMSError without scaling parameter: 0.01512955363974755 m.
\ No newline at end of file
+RMSError using scaling parameter: 0.02716352972394891 m.
+RMSError without scaling parameter: 0.04369423752741959 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_trajectory.png b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_trajectory.png
index 2bc52776..28e79dd7 100644
Binary files a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_trajectory.png and b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_trajectory.png differ
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_trajectory_GT.png b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_trajectory_GT.png
index 3a4066db..6b577201 100644
Binary files a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_trajectory_GT.png and b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_monoi_trajectory_GT.png differ
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_raw_monoi_errors.txt b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_raw_monoi_errors.txt
index 6ed53632..718d2d73 100644
--- a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_raw_monoi_errors.txt
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_raw_monoi_errors.txt
@@ -1,2 +1,2 @@
-RMSError using scaling parameter: 0.6224105681907838 m.
-RMSError without scaling parameter: 0.6755599812382672 m.
\ No newline at end of file
+RMSError using scaling parameter: 0.17422898980987817 m.
+RMSError without scaling parameter: 0.20159510652075993 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_raw_monoi_trajectory.png b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_raw_monoi_trajectory.png
index 0deefa3d..98c30a33 100644
Binary files a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_raw_monoi_trajectory.png and b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_raw_monoi_trajectory.png differ
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_raw_monoi_trajectory_GT.png b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_raw_monoi_trajectory_GT.png
index 70562a97..8b058fd8 100644
Binary files a/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_raw_monoi_trajectory_GT.png and b/tum_vi/dataset-room3_512_16/orb_slam3_monoi_without_atlas/orb_slam3_raw_monoi_trajectory_GT.png differ
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_raw2_atlas_mono_errors.txt b/tum_vi/dataset-room3_512_16/orb_slam3_raw2_atlas_mono_errors.txt
new file mode 100644
index 00000000..6e22fed9
--- /dev/null
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_raw2_atlas_mono_errors.txt
@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.9645633795148952 m.
+RMSError without scaling parameter: 1.2457310875054837 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_raw_atlas_mono_errors.txt b/tum_vi/dataset-room3_512_16/orb_slam3_raw_atlas_mono_errors.txt
new file mode 100644
index 00000000..320fbdd4
--- /dev/null
+++ b/tum_vi/dataset-room3_512_16/orb_slam3_raw_atlas_mono_errors.txt
@@ -0,0 +1,2 @@
+RMSError using scaling parameter: 0.1016709203508703 m.
+RMSError without scaling parameter: 1.2337550090812648 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_raw_mono_errors_Atlas+.txt b/tum_vi/dataset-room3_512_16/orb_slam3_raw_mono_errors_Atlas+.txt
deleted file mode 100644
index 96e3d019..00000000
--- a/tum_vi/dataset-room3_512_16/orb_slam3_raw_mono_errors_Atlas+.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-RMSError using scaling parameter: 0.9755291616652519 m.
-RMSError without scaling parameter: 1.2478255190645933 m.
\ No newline at end of file
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_raw_mono_trajectory_Atals+.png b/tum_vi/dataset-room3_512_16/orb_slam3_raw_mono_trajectory_Atals+.png
deleted file mode 100644
index 017a2309..00000000
Binary files a/tum_vi/dataset-room3_512_16/orb_slam3_raw_mono_trajectory_Atals+.png and /dev/null differ
diff --git a/tum_vi/dataset-room3_512_16/orb_slam3_raw_mono_trajectory_Atlas+_GT.png b/tum_vi/dataset-room3_512_16/orb_slam3_raw_mono_trajectory_Atlas+_GT.png
deleted file mode 100644
index e87cf863..00000000
Binary files a/tum_vi/dataset-room3_512_16/orb_slam3_raw_mono_trajectory_Atlas+_GT.png and /dev/null differ
diff --git a/tum_vi/f_ _mono_raw2.txt b/tum_vi/f_ _mono_raw2.txt
new file mode 100644
index 00000000..e69de29b
diff --git a/tum_vi/f_ dataset-outdoors4_512_16_monoi_raw.txt b/tum_vi/f_ dataset-outdoors4_512_16_monoi_raw.txt
deleted file mode 100644
index bf04a65b..00000000
--- a/tum_vi/f_ dataset-outdoors4_512_16_monoi_raw.txt	
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diff --git a/tum_vi/f_ dataset-room3_512_16_mono_raw.txt b/tum_vi/f_ dataset-room3_512_16_mono_raw.txt
deleted file mode 100644
index d27439b6..00000000
--- a/tum_vi/f_ dataset-room3_512_16_mono_raw.txt	
+++ /dev/null
@@ -1,1694 +0,0 @@
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diff --git a/tum_vi/f_ dataset-room3_512_16_mono_raw2.txt b/tum_vi/f_ dataset-room3_512_16_mono_raw2.txt
deleted file mode 100644
index 57d3413b..00000000
--- a/tum_vi/f_ dataset-room3_512_16_mono_raw2.txt	
+++ /dev/null
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diff --git a/tum_vi/f_ dataset-room3_512_16_monoi_raw2.txt b/tum_vi/f_ dataset-room3_512_16_monoi_raw2.txt
new file mode 100644
index 00000000..5f89d6d7
--- /dev/null
+++ b/tum_vi/f_ dataset-room3_512_16_monoi_raw2.txt	
@@ -0,0 +1,2793 @@
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diff --git a/tum_vi/orb_slam3_tum_vi_mono_examples.sh b/tum_vi/orb_slam3_tum_vi_mono_examples.sh
index 59f77ac0..7a3c4fcc 100644
--- a/tum_vi/orb_slam3_tum_vi_mono_examples.sh
+++ b/tum_vi/orb_slam3_tum_vi_mono_examples.sh
@@ -69,4 +69,5 @@ echo "Launching $DATASET with Monocular sensor"
 mv "f_${DATASET}_mono.txt" "$DATASET"/"f_${DATASET}_mono_orb_slam3.txt"
 mv "kf_${DATASET}_mono.txt" "$DATASET"/"kf_${DATASET}_mono_orb_slam3.txt"
 mv "f_ ${DATASET}_mono_raw.txt" "$DATASET"/"f_${DATASET}_mono_orb_slam3_raw.txt"
+mv "f_ ${DATASET}_mono_raw2.txt" "$DATASET"/"f_${DATASET}_mono_orb_slam3_raw2.txt"
 mv "$ATLAS_NAME" "$DATASET/$ATLAS_NAME"