• I would prefer to keep the CI running on GitHub actions for now and move to Azure Pipelines only later. To minimize the binary sizes we only build a subset of COLMAP features (no GUI, no CGAL) so we anyway need separate build job. With caching it takes <20min to run.
• The code mostly follows conventions of COLMAP and passes all clang-tidy checks except google-build-using-namespace - we need to use using namespace colmap; because pybind doesn't play well with namespaces.
  • I will add a CI job for Clang-Tidy in a separate PR with -checks=-google-build-using-namespace*

Will be addressed in later PRs:

• Move exception checks to COLMAP
• Bind SetPRNGSeed and remove its calls in pycolmap/estimators
• Replace calls to FreeImage in pycolmap/feature/sift.h
• CI with Clang-Tidy for pycolmap
• Better binary caching for vcpkg
• More tests

cc @mihaidusmanu @Phil26AT @tsattler