Hi
I was facing an error with
`pycolmap.estimate_and_refine_generalized_absolute_pose` when installing
pycolmap via pip.
Error:
```
*** Aborted at 1777983489 (unix time) try "date -d @1777983489" if you are using GNU date ***
PC: @     0x73ded64220cb (/local/home/akrishnan/lamar_env_fix/lib/python3.10/site-packages/pycolmap/_core.cpython-310-x86_64-linux-gnu.so+0x10220ca)
Segmentation fault
```
The breaking PR was #4041. I was able to validate this by installing
pycolmap from source on the commit before (#4037). The script below
should work on PR #4037.
Test data:
[Rig_pose_data](https://drive.google.com/file/d/125Y-Pap9FhQUVCayLVfU6iTWXQSHJaS7/view?usp=sharing)
Testing script:
```python
import pickle, time
import numpy as np
import pycolmap
from tqdm import tqdm
PKL = '/local/home/akrishnan/Downloads/rig_pose_debug.pkl'
with open(PKL, 'rb') as f:
    all_data = pickle.load(f)
print(f'pycolmap {pycolmap.__version__} from {pycolmap.__file__}')
print(f'{len(all_data)} entries')
n_ok = 0
n_none = 0
t0 = time.time()
for i, d in enumerate(tqdm(all_data, desc='rig PnP')):
    p2d_per_cam = d['p2d']
    p3d_per_cam = d['p3d']
    camera_dicts = d['camera_dicts']
    qvecs = d['qvecs']
    tvecs = d['tvecs']
    thresh = float(d['thresh'])
    p2d_flat = np.concatenate(p2d_per_cam, axis=0).astype(np.float64)
    p3d_flat = np.concatenate(p3d_per_cam, axis=0).astype(np.float64)
    camera_idxs = []
    for ci, p in enumerate(p2d_per_cam):
        camera_idxs.extend([ci] * len(p))
    cams_from_rig = []
    for q_wxyz, t in zip(qvecs, tvecs):
        q_xyzw = np.array([q_wxyz[1], q_wxyz[2], q_wxyz[3], q_wxyz[0]], dtype=np.float64)
        cams_from_rig.append(pycolmap.Rigid3d(
            pycolmap.Rotation3d(q_xyzw),
            np.asarray(t, dtype=np.float64),
        ))
    # Build cameras
    cameras = [
        pycolmap.Camera(
            model=cd['model'],
            width=int(cd['width']),
            height=int(cd['height']),
            params=list(cd['params']),
        )
        for cd in camera_dicts
    ]
    opts = pycolmap.RANSACOptions()
    opts.max_error = thresh
    ret = pycolmap.estimate_and_refine_generalized_absolute_pose(
        p2d_flat, p3d_flat, camera_idxs, cams_from_rig, cameras,
        estimation_options=opts, return_covariance=True,
    )
    if ret is None:
        n_none += 1
    else:
        n_ok += 1
dt = time.time() - t0
print(f'\ndone in {dt:.1f}s — succeeded: {n_ok}/{len(all_data)}, '
      f'returned None: {n_none}/{len(all_data)}')
```
---------
Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>
Co-authored-by: Johannes Schönberger <jsch@demuc.de>