This release requires COLMAP 3.9.1.

• Propagate changes from COLMAP
  • New Rigid3d/Sim3d objects
  • CamFromWorld replaces qvec/tvec (https://github.com/colmap/pycolmap/pull/166)
  • WorldToImage/ImageToWorld become ImgFromCam/CamFromImg (https://github.com/colmap/pycolmap/pull/167)
  • Decouple SIFT matching from two view geometry options (https://github.com/colmap/pycolmap/pull/169)
• Improve the bindings
  • Rename alignment estimators to align_reconstructions_via_reprojections, align_reconstructions_via_proj_centers, and align_reconstructions_via_points (https://github.com/colmap/pycolmap/pull/174)
  • Estimators return None on failure (https://github.com/colmap/pycolmap/pull/175)
  • Better logging with glog (https://github.com/colmap/pycolmap/pull/176)
  • Add robust triangulation (https://github.com/colmap/pycolmap/pull/184)
  • Add bundle adjustment (https://github.com/colmap/pycolmap/pull/146)
  • Expose Incremental{Mapper,Triangulator}::Options (https://github.com/colmap/pycolmap/pull/219)
  • Better __repr__ and docstrings for many objects (https://github.com/colmap/pycolmap/pull/224)
  • Many bug fixes
• Update the file structure to follow the one of COLMAP
• Wheels:
  • Deprecate Python 3.6 and support Python 3.10
  • Support Windows (https://github.com/colmap/pycolmap/pull/214) and macOS 10-12 with Apple Silicon (https://github.com/colmap/pycolmap/pull/218)