Improvements ------------ * Add various safety checks with more understandable error messages when adding misconfigured rigs/cameras/frames/images to the reconstruction. * Recover original metric reconstruction scale in case of configured rigs. Bug Fixes --------- * Fix incompatibilities due to redundant symbol definition in pycolmap/pyceres. * Fix error threshold for generalized relative pose to be in pixel space. * Fix rig configuration in case of inconsistent IDs in database/reconstruction. * Fix missing colmap namespace in sqlite3 macro. * Fix CMake configuration with Boost 1.89 or newer. * Fix viewer crash when clearing the reconstruction.