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Issue 1033 prior intrinsic for multiple cameras #1166

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DaniilSNikulin
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fixes #1033

Extended functionality by allowing users to specify a prior intrinsics for multiple cameras.
Also extended documentation for new functionality.

API was changed, but saved backward compatibility.

Code was hand tested, but unit tests are not exists. I don't now how create tests for CLI module.

@MartinEthier
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@DaniilSNikulin What's the current status of this? It would be a useful change seeing as the current way to do this involves directly editing the database.

@DaniilSNikulin
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Hi @MartinEthier
I wasn't working with Colmap for several years.
I guess current PR is not actual anymore. (at least because of merge conflicts)

And also I don't think, that I can actualize it, because I lost my competitions with Colmap and afraid introduce error.

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Pass intrinsic calibration as prior information
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