Is there an easy way to load our own intrinsics?

[kumarhans]

I have a custom dataset that I am attempting to use using the olssonloader with, however I run into this error:
"ValueError: No intrinsics found for index 0?" Is there an easy way to add intrinsics to EXIF data on the images I am using? I do not have matlab, so I am not able to create a data.mat file for the dataset.

Alternatively I tried to use the colmap loader with just a cameras.txt file, but it seems like I need all the extrinsics and other files as well.

I used kalibr to generate intrinsics for a camera that I am using.

I think it may be best to just write a custom dataloader, but any help / advice would be much appreciated.

[travisdriver]

If it's a simple calibration (e.g., just focal length and principal point), it should be simple to add those parameters to the exif. I believe you can do this is python using Pillow.

Otherwise, a custom dataloader should be straightforward to implement. I recommend using the Ollson loader as a template.