…3752)
This PR attempts to support geometric verification given a known colmap
reconstruction, which was needed for the potential hloc migration. The
following interface is supported:
```
colmap guided_geometric_verifier --input_path ${MODEL_PATH} --database_path ${DB_PATH} \
              --TwoViewGeometry.min_num_inliers 15 --TwoViewGeometry.max_error 4.0
```
To better achieve this, I also did some refactorization on the existing
``FeatureMatcherThread``. In particular, ``only_verification``
introduced in #3581 was only used
in ``RunGeometricVerifier`` and was moved to a separate class
``FeatureMatchesVerifierThread`` (which does not require
``FeatureMatchingOptions``). Rig verification is supported in both
classes.
TODOs:
* [x] Add tests.
* [x] Add pybind.
* [x] Aligning with bidirectional epipolar errors in hloc and add some
benchmarking.