Questions about installing firmware, please help!! How can I install it?

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Questions about installing firmware, please help!!

I tried rooting my Galaxy S5 SM-G900T and after the root process with Odin and TWRP in the last step when I rebooted the phone it got stuck on a boot loop in the Samsung logo, so I had no choice but to do a Factory reset which even the OS got deleted in the process. I'm downloading the 5.1.1 firmware for my phone on my computer but I have questions on how to install it on my phone now, because obviously PC is not recognizing my phone or it is not letting me access the storage or sd card once connected. I have Kies 3 in my pc and TWRP on the phone. Which way can I install the firmware on my phone again?
 

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