Deprecate SimilarityTransform3 and switch to colmap::Sim3d

[B1ueber2y]

• Use colmap::Sim3d and remove the SimilarityTransform3 implementation from limap. This is healthier in the long term as COLMAP is maintained more extensively.
• move Rotation3d, Rigid3d, and Sim3d from pycolmap to limap.base.pycolmap. This is needed before we enable wheels since the two packages are not necessarily built on the same platform. Add pycolmap/helpers.h to third-party.
• Increment colmap tag to the newest version

Example:

import limap
import limap.util.io as limapio
imagecols = limap.base.ImageCollection(limapio.read_npy(filepath).item())
sim3d = limap.base.pycolmap.Sim3d()
sim3d.scale = 2.0
imagecols_transformed = imagecols.apply_similarity_transform(sim3d) # The camera positions are scaled by 2.0.