Function run_stable 

pub fn run_stable(
    out: &Path,
    refined: &BTreeMap<usize, ZoneCloud<'_>>,
    models: &BTreeMap<usize, &Reconstruction>,
    times: &BTreeMap<usize, ZoneTimes>,
    display: Option<&Reconstruction>,
    enu: Option<&Reconstruction>,
    log: &Logger,
) -> Result<(), String>

Stable-display outputs: every refined zone exactly as shown (snapshots/event_NN_TTTT.Ts_refined_K.ply, display frame, in order of arrival) and the same clouds in ENU (final_frame/refined/). Each zone gets its own Sim3 from its refined model (models) to the GPS-aligned final model (enu), fitted on shared 3D points; with too few pairs (or no model for the zone) one global Sim3 from the display model to enu (projection centers of shared images) is used. final_frame/merged.ply is the thinned (1/MERGED_STRIDE) and overlap-deduplicated union of the ENU clouds.