Estimation for extrinsic camera parameters

[SebastianJanampa]

Hello MoGe team,

Thanks for such great work. In the GitHub repo, you mention that MoGe can recover intrinsic camera parameters. I wonder if it can also estimate extrinsic camera parameters. In the supp. According to the material of the MoGev1 paper, you mentioned that you assume a simple pinhole camera model with an isotropic focal length and a centered principal point to predict the intrinsic parameters. Since MoGev2 is more accurate than MoGev1, is it possible to extract the external camera parameters from MoGev2? Or are the point maps from the camera perspective instead of world coordinates?

Also, what are the affine-invariant point maps? Could you provide a reference about that topic?

Regards, Sebastian