Handling images without EXIF data
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enhancement
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Description
I guess I could have it require that ground truth intrinsics are provided.
Is the case for the intrinsics being `None` is handled anywhere? The output of `get_intrinsics_from_exif()` is `Optional[Cal3Bundler]`, but it seems the ground truth intrinsics (or a good estimate) are required.
_Originally posted by @travisdriver in https://github.com/borglab/gtsfm/pull/258#discussion_r702190601_
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