About multi-camera alignment

[szhang963]

Hi, I am very interested in your promising work. I have some questions about multi-camera alignment.

1. Why did you use Metashape to refine the camera pose? Is the result better than COLMAP for multi-camera pose estimating?
2. Did you only refine multi-camera extrinsic (cami2ego)? Then, Did you use the pose of ego car from the vehicle sensor to translate the camera coord to the world？

Thanks in advance.