To learn how to reuse the camera alignment with undistorted images for camera projections in Blender check out this video.
In video you will see how to import images with their corresponding XMP files, align them and reconstruct them into a model. The unwarted part of the model was selected with the help of Select the largest connected component tool, that can be found in the Reconstruction tab under the Advanced Selection and with Invert Selection tool found in the same tab. After that, it was filtered out of the model and the rest of the model was simplified to lower the amount of the triangles. Simplified model was textured and exported for the further processing in Blender.