diff --git a/SuperBuild/cmake/External-OpenSfM.cmake b/SuperBuild/cmake/External-OpenSfM.cmake
index e2637d647..6b3b78dff 100644
--- a/SuperBuild/cmake/External-OpenSfM.cmake
+++ b/SuperBuild/cmake/External-OpenSfM.cmake
@@ -30,6 +30,9 @@ if(DEFINED ENV{CONDA_PREFIX})
   # propagated via the glog::glog cmake target, but OpenSfM links Ceres with
   # the old-style ${CERES_LIBRARIES} variable and misses the transitive define.
   set(OPENSFM_EXTRA_CXX_FLAGS "$ENV{CXXFLAGS} -DGLOG_USE_GLOG_EXPORT -DGLOG_USE_GFLAGS")
+  if(WIN32)
+    set(OPENSFM_EXTRA_CXX_FLAGS "${OPENSFM_EXTRA_CXX_FLAGS} /EHsc /GR")
+  endif()
 endif()
 
 ExternalProject_Add(${_proj_name}
@@ -40,10 +43,9 @@ ExternalProject_Add(${_proj_name}
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
   GIT_REPOSITORY    https://github.com/OpenDroneMap/OpenSfM/
-  GIT_TAG           c5328439465e6ace011f39077d1077d7b1cdd65d
+  GIT_TAG           118771173cdf2ece8869f8b4e363d56a3d0b0c5c
   #--Update/Patch step----------
   UPDATE_COMMAND    git submodule update --init --recursive
-  PATCH_COMMAND     ${CMAKE_COMMAND} -P ${SB_ROOT_DIR}/cmake/apply-patch.cmake ${SB_ROOT_DIR}/cmake/opensfm-aarch64-abs.patch
   #--Configure step-------------
   SOURCE_DIR        ${SB_INSTALL_DIR}/bin/${_proj_name}
   CONFIGURE_COMMAND ${CMAKE_COMMAND} <SOURCE_DIR>/${_proj_name}/src
@@ -53,6 +55,7 @@ ExternalProject_Add(${_proj_name}
     -DADDITIONAL_INCLUDE_DIRS=${OPENSFM_ADDITIONAL_INCLUDE_DIRS}
     -DYET_ADDITIONAL_INCLUDE_DIRS=${EXTRA_INCLUDE_DIRS}
     -DOPENSFM_BUILD_TESTS=off
+    -DOPENSFM_LINK_TCMALLOC=OFF
     -DPYTHON_EXECUTABLE=${PYTHON_EXE_PATH}
     -DCMAKE_CXX_FLAGS=${OPENSFM_EXTRA_CXX_FLAGS}
     "-DCMAKE_MODULE_LINKER_FLAGS=${OPENSFM_EXTRA_LINKER_FLAGS}"
@@ -63,7 +66,8 @@ ExternalProject_Add(${_proj_name}
   #--Build step-----------------
   BINARY_DIR        ${_SB_BINARY_DIR}
   #--Install step---------------
-  INSTALL_COMMAND    ""
+  INSTALL_COMMAND   ${CMAKE_COMMAND} --install <BINARY_DIR> --config ${CMAKE_BUILD_TYPE}
+    --prefix ${SB_INSTALL_DIR}/bin/${_proj_name}/opensfm
   #--Output logging-------------
   LOG_DOWNLOAD      OFF
   LOG_CONFIGURE     OFF
diff --git a/SuperBuild/cmake/opensfm-aarch64-abs.patch b/SuperBuild/cmake/opensfm-aarch64-abs.patch
deleted file mode 100644
index eacfd2533..000000000
--- a/SuperBuild/cmake/opensfm-aarch64-abs.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/opensfm/src/geometry/triangulation.h b/opensfm/src/geometry/triangulation.h
-index 32588515..6aea4dfe 100644
---- a/opensfm/src/geometry/triangulation.h
-+++ b/opensfm/src/geometry/triangulation.h
-@@ -70,7 +70,7 @@ std::pair<bool, Eigen::Matrix<T, 3, 1>> TriangulateTwoBearingsMidpointSolve(
- 
-   const T eps = T(1e-30);
-   const T det = A.determinant();
--#ifdef __aarch64__
-+#if defined(__aarch64__) && !defined(__APPLE__)
-   if (std::abs<T>(det) < eps) {
- #else
-   if (abs(det) < eps) {
diff --git a/opendm/osfm.py b/opendm/osfm.py
index 3088bd533..2a1c6b9c9 100644
--- a/opendm/osfm.py
+++ b/opendm/osfm.py
@@ -23,7 +23,6 @@
 from opendm.multispectral import get_photos_by_band
 from opendm.gpu import has_popsift_and_can_handle_texsize, has_gpu
 from opensfm import multiview, exif
-from opensfm.actions.export_geocoords import _transform
 
 class OSFMContext:
     def __init__(self, opensfm_project_path):
@@ -49,10 +48,16 @@ def create_tracks(self, rerun=False):
         else:
             log.ODM_WARNING('Found a valid OpenSfM tracks file in: %s' % tracks_file)
 
-    def reconstruct(self, rolling_shutter_correct=False, merge_partial=False, rerun=False):
+    def reconstruct(self, algorithm='incremental', rolling_shutter_correct=False, merge_partial=False, rerun=False):
+        # Upstream OpenSfM supports 'incremental' and 'triangulation', so map anything
+        # else (e.g. the deprecated 'planar') to incremental
+        if algorithm not in ('incremental', 'triangulation'):
+            log.ODM_WARNING("Unsupported SfM algorithm '%s', using incremental instead" % algorithm)
+            algorithm = 'incremental'
+
         reconstruction_file = os.path.join(self.opensfm_project_path, 'reconstruction.json')
         if not io.file_exists(reconstruction_file) or rerun:
-            self.run('reconstruct')
+            self.run('reconstruct --algorithm %s' % algorithm)
             if merge_partial:
                 self.check_merge_partial_reconstructions()
         else:
@@ -70,13 +75,13 @@ def reconstruct(self, rolling_shutter_correct=False, merge_partial=False, rerun=
             rs_file = self.path('rs_done.txt')
 
             if not io.file_exists(rs_file) or rerun:
-                self.run('rs_correct')
+                self.run('correct_rolling_shutter')
 
                 log.ODM_INFO("Re-running the reconstruction pipeline")
 
                 self.match_features(True)
                 self.create_tracks(True)
-                self.reconstruct(rolling_shutter_correct=False, merge_partial=merge_partial, rerun=True)
+                self.reconstruct(algorithm=algorithm, rolling_shutter_correct=False, merge_partial=merge_partial, rerun=True)
 
                 self.touch(rs_file)
             else:
@@ -256,7 +261,6 @@ def setup(self, args, images_path, reconstruction, append_config = [], rerun=Fal
                 "matching_gps_distance: 0",
                 "matching_graph_rounds: %s" % matcher_graph_rounds,
                 "optimize_camera_parameters: %s" % ('no' if args.use_fixed_camera_params else 'yes'),
-                "reconstruction_algorithm: %s" % (args.sfm_algorithm),
                 "undistorted_image_format: tif",
                 "bundle_outlier_filtering_type: AUTO",
                 "sift_peak_threshold: 0.066",
@@ -372,7 +376,7 @@ def extract_metadata(self, rerun=False):
         if not io.dir_exists(metadata_dir) or rerun:
             self.run('extract_metadata')
     
-    def photos_to_metadata(self, photos, rolling_shutter, rolling_shutter_readout, rerun=False):
+    def photos_to_metadata(self, photos, rolling_shutter, rolling_shutter_readout, gps_accuracy, rerun=False):
         metadata_dir = self.path("exif")
 
         if io.dir_exists(metadata_dir) and not rerun:
@@ -388,7 +392,7 @@ def photos_to_metadata(self, photos, rolling_shutter, rolling_shutter_readout, r
         data = DataSet(self.opensfm_project_path)
 
         for p in photos:
-            d = p.to_opensfm_exif(rolling_shutter, rolling_shutter_readout)
+            d = p.to_opensfm_exif(rolling_shutter, rolling_shutter_readout, gps_accuracy)
             with open(os.path.join(metadata_dir, "%s.exif" % p.filename), 'w') as f:
                 f.write(json.dumps(d, indent=4))
 
@@ -623,7 +627,11 @@ def ground_control_points(self, proj4):
 
         result = []
         for gcp in gcps_stats:
-            geocoords = _transform(gcp['coordinates'], reference, projection)
+            # Local coords (XYZ /ENU) to WGS84 (lat/lon/alt)
+            coords = gcp['coordinates']
+            lat, lon, altitude = reference.to_lla(coords[0], coords[1], coords[2])
+            easting, northing = projection(lon, lat)
+            geocoords = [easting, northing, altitude]
             result.append({
                 'id': gcp['id'],
                 'observations': gcp['observations'],
diff --git a/opendm/photo.py b/opendm/photo.py
index ffcf0bc49..10762c3e5 100644
--- a/opendm/photo.py
+++ b/opendm/photo.py
@@ -832,7 +832,7 @@ def camera_id(self):
                 ]
             ).lower()
 
-    def to_opensfm_exif(self, rolling_shutter = False, rolling_shutter_readout = 0):
+    def to_opensfm_exif(self, rolling_shutter = False, rolling_shutter_readout = 0, gps_accuracy = None):
         capture_time = 0.0
         if self.utc_time is not None:
             capture_time = self.utc_time / 1000.0
@@ -849,10 +849,22 @@ def to_opensfm_exif(self, rolling_shutter = False, rolling_shutter_readout = 0):
 
             dop = self.get_gps_dop()
             if dop is None:
-                dop = 10.0 # Default
-            
+                dop = gps_accuracy if gps_accuracy is not None else 10.0 # Default
+
+            # dop is a single GPS accuracy value. Older OpenSfM code still reads
+            # it, so keep writing it.
             gps['dop'] = dop
 
+            # Newer OpenSfM wants horizontal and vertical GPS accuracy separately.
+            # ODM stores them per axis when it has them (e.g. RTK), so use those.
+            # If a value is missing, use dop for horizontal and assume vertical is
+            # 3x less accurate (typical for GPS).
+            horizontal = self.gps_xy_stddev if self.gps_xy_stddev is not None else dop
+            vertical = self.gps_z_stddev if self.gps_z_stddev is not None else horizontal * 3.0
+            gps['latitude_std'] = horizontal
+            gps['longitude_std'] = horizontal
+            gps['altitude_std'] = vertical
+
         d = {
             "make": self.camera_make,
             "model": self.camera_model,
diff --git a/opendm/remote.py b/opendm/remote.py
index 7db662a8b..63760db6f 100644
--- a/opendm/remote.py
+++ b/opendm/remote.py
@@ -27,12 +27,13 @@ class LocalRemoteExecutor:
     to use the processing power of the current machine as well as offloading tasks to a 
     network node.
     """
-    def __init__(self, nodeUrl, rolling_shutter = False, rerun = False):
+    def __init__(self, nodeUrl, rolling_shutter = False, sfm_algorithm = 'incremental', rerun = False):
         self.node = Node.from_url(nodeUrl)
         self.params = {
             'tasks': [],
             'threads': [],
             'rolling_shutter': rolling_shutter,
+            'sfm_algorithm': sfm_algorithm,
             'rerun': rerun
         }
         self.node_online = True
@@ -447,7 +448,7 @@ def process_local(self):
         log.ODM_INFO("==================================")
         octx.feature_matching(self.params['rerun'])
         octx.create_tracks(self.params['rerun'])
-        octx.reconstruct(self.params['rolling_shutter'], True, self.params['rerun'])
+        octx.reconstruct(self.params['sfm_algorithm'], self.params['rolling_shutter'], True, self.params['rerun'])
     
     def process_remote(self, done):
         octx = OSFMContext(self.path("opensfm"))
diff --git a/pixi.lock b/pixi.lock
index d9021664c..b8fbdaf6a 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -47,6 +47,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.16.1-hb03c661_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/aom-3.9.1-hac33072_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/arpack-3.9.1-nompi_hf03ea27_102.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-auth-0.9.0-h0fbd49f_19.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-cal-0.9.2-he7b75e1_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-common-0.12.4-hb03c661_0.conda
@@ -95,6 +96,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-3.4.0-h54a6638_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-abi-3.4.0.100-h3bcb7cf_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/exiftool-13.59-pl5321ha770c72_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/fast_float-8.1.0-hb700be7_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ffmpeg-8.0.0-gpl_hc3e963e_905.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fgt-0.4.11-h87365c0_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fmt-11.2.0-h07f6e7f_0.conda
@@ -115,9 +117,11 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/giflib-5.2.2-ha257d8a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/git-2.51.0-pl5321h28ef92a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/glog-0.7.1-hbabe93e_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/glpk-5.0-h445213a_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/glslang-15.4.0-h7d2aa7d_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gmp-6.3.0-hac33072_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gmpy2-2.3.0-py312hcaba1f9_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gperftools-2.18.1-h65a8314_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/graphite2-1.3.15-hecca717_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx-14.4.0-hd47ba16_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-14.4.0-hc436dd5_1.conda
@@ -125,6 +129,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-11.4.5-h15599e2_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/hdf5-1.14.6-nompi_h19486de_106.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-75.1-he02047a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/igraph-0.10.16-h98b0679_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/imagecodecs-2025.8.2-py312h37ec73a_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/imath-3.2.1-hde8ca8f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/intel-gmmlib-22.10.0-hb700be7_0.conda
@@ -136,8 +141,10 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/kiwisolver-1.5.0-py312h0a2e395_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.21.3-h659f571_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lame-3.100-h166bdaf_1003.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/laszip-3.4.3-h9c3ff4c_2.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lcms2-2.19.1-h0c24ade_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.46.1-default_hbd61a6d_102.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/leidenalg-0.10.2-py312h1289d80_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lerc-4.2.0-hdb68285_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/level-zero-1.29.0-hb700be7_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libabseil-20250512.1-cxx17_hba17884_0.conda
@@ -213,6 +220,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.11.0-8_h47877c9_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapacke-3.11.0-8_h6ae95b6_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libldl-3.3.2-hf02c80a_7100101.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libleidenalg-0.11.1-h00ab1b0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm20-20.1.8-hecd9e04_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm21-21.1.0-hecd9e04_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.3-hb03c661_0.conda
@@ -295,9 +303,12 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libxslt-1.1.43-h7a3aeb2_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.3.2-h25fd6f3_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libzopfli-1.0.3-h9c3ff4c_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/lxml-6.0.2-py312h70dad80_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/lz4-4.4.5-py312h3d67a73_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lz4-c-1.10.0-h5888daf_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lzo-2.10-h280c20c_1002.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/make-4.4.1-hb9d3cd8_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/markupsafe-3.0.3-py312h8a5da7c_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/matplotlib-3.10.3-py312h7900ff3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/matplotlib-base-3.10.3-py312hd3ec401_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/metis-5.1.0-hd0bcaf9_1007.conda
@@ -337,6 +348,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pyproj-3.7.1-py312h03c6e1f_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pyside6-6.9.2-py312h5654102_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.12.9-h9e4cc4f_1_cpython.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/python-igraph-0.11.9-py312h1289d80_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/python-pdal-3.4.5-py312h55a99f5_14.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pywavelets-1.9.0-py312h4f23490_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pyyaml-6.0.2-py312h178313f_2.conda
@@ -406,8 +418,11 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/zlib-ng-2.2.5-hde8ca8f_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/beautifulsoup4-4.13.4-pyha770c72_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/blinker-1.9.0-pyhff2d567_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.7.22-hbd8a1cb_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/certifi-2026.7.22-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/click-8.4.2-pyhc90fa1f_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/cloudpickle-3.1.2-pyhcf101f3_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/coloredlogs-15.0.1-pyhd8ed1ab_4.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/cpython-3.12.13-py312hd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhcf101f3_2.conda
@@ -415,6 +430,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/defusedxml-0.7.1-pyhd8ed1ab_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/deprecated-1.3.1-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/exifread-3.5.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/flask-3.1.3-pyhcf101f3_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-source-code-pro-2.038-h77eed37_0.tar.bz2
@@ -424,6 +440,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/fpdf2-2.8.3-pyhd8ed1ab_0.conda
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+  - hypothesis ; extra == 'test'
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+  name: rerun-sdk
+  version: 0.27.2
+  sha256: 5583f9d67b485e405939ddb1f9da38cc7202b326a15b1110d71dc7d2fdacc28b
+  requires_dist:
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+  - pillow>=8.0.0
+  - pyarrow>=18.0.0
+  - typing-extensions>=4.5
+  - pytest==8.4.2 ; extra == 'tests'
+  - syrupy==5.0.0 ; extra == 'tests'
+  - rerun-notebook==0.27.2 ; extra == 'notebook'
+  - datafusion==50.1.0 ; extra == 'datafusion'
+  - rerun-sdk[notebook] ; extra == 'all'
+  - rerun-sdk[datafusion] ; extra == 'all'
+  requires_python: '>=3.10'
 - pypi: https://files.pythonhosted.org/packages/2f/70/a34794fcd69c424fcef20627664557ab4d61255fdfbd1d6735e80058d0df/edt-3.0.0-cp312-cp312-macosx_11_0_arm64.whl
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   - click>=4.0
   - pytest-cov ; extra == 'test'
   requires_python: '>=2.7,!=3.0.*,!=3.1.*,!=3.2.*,<4'
+- pypi: https://files.pythonhosted.org/packages/7d/ef/38ecd7fbb31b846d749299c2b848a30e85b7a6a7d496ea054373abfb3b08/rerun_sdk-0.27.2-cp310-abi3-macosx_11_0_arm64.whl
+  name: rerun-sdk
+  version: 0.27.2
+  sha256: e3e180a97085e7d7e1f1aee20c45f96173c87d723ce155573b96441733ef1560
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+  - typing-extensions>=4.5
+  - pytest==8.4.2 ; extra == 'tests'
+  - syrupy==5.0.0 ; extra == 'tests'
+  - rerun-notebook==0.27.2 ; extra == 'notebook'
+  - datafusion==50.1.0 ; extra == 'datafusion'
+  - rerun-sdk[notebook] ; extra == 'all'
+  - rerun-sdk[datafusion] ; extra == 'all'
+  requires_python: '>=3.10'
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   name: fiona
   version: 1.10.1
@@ -30281,6 +30162,17 @@ packages:
   requires_dist:
   - numpy
   requires_python: '>=3.8,<4'
+- pypi: https://files.pythonhosted.org/packages/a0/8e/9adee63dfa3911be2382fb4d92e4b2e7d82610f9d9f668493bebaa2af50f/pyarrow-20.0.0-cp312-cp312-win_amd64.whl
+  name: pyarrow
+  version: 20.0.0
+  sha256: 96d6a0a37d9c98be08f5ed6a10831d88d52cac7b13f5287f1e0f625a0de8062b
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+  - pandas ; extra == 'test'
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/a0/f4/c67b0b3f1b9245e8d266f0f112c500d50e5b4e83cb6f3b71b6528104182a/requests-2.34.2-py3-none-any.whl
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   - chardet>=3.0.2,<8 ; extra == 'use-chardet-on-py3'
   requires_python: '>=3.10'
+- pypi: https://files.pythonhosted.org/packages/a1/d6/0c10e0d54f6c13eb464ee9b67a68b8c71bcf2f67760ef5b6fbcddd2ab05f/pyarrow-20.0.0-cp312-cp312-macosx_12_0_arm64.whl
+  name: pyarrow
+  version: 20.0.0
+  sha256: 75a51a5b0eef32727a247707d4755322cb970be7e935172b6a3a9f9ae98404ba
+  requires_dist:
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+  - hypothesis ; extra == 'test'
+  - cffi ; extra == 'test'
+  - pytz ; extra == 'test'
+  - pandas ; extra == 'test'
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/a9/e4/e44f17cd5c01b3ac06b5add039d24eb4336dc4a3d56595d70816a5b3dc12/pillow_jxl_plugin-1.3.4-cp312-cp312-macosx_11_0_arm64.whl
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@@ -30370,6 +30273,17 @@ packages:
   - pytest-cov ; extra == 'test'
   - pytz ; extra == 'test'
   requires_python: '>=3.8'
+- pypi: https://files.pythonhosted.org/packages/bb/1b/2168d6050e52ff1e6cefc61d600723870bf569cbf41d13db939c8cf97a16/pyarrow-20.0.0-cp312-cp312-manylinux_2_28_x86_64.whl
+  name: pyarrow
+  version: 20.0.0
+  sha256: 4250e28a22302ce8692d3a0e8ec9d9dde54ec00d237cff4dfa9c1fbf79e472a8
+  requires_dist:
+  - pytest ; extra == 'test'
+  - hypothesis ; extra == 'test'
+  - cffi ; extra == 'test'
+  - pytz ; extra == 'test'
+  - pandas ; extra == 'test'
+  requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/be/cc/453816b489af94b9a243eda889865973d518989ba6923b2381f6d6722b43/rasterio-1.4.3-cp312-cp312-win_amd64.whl
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@@ -30414,11 +30328,23 @@ packages:
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-  requires_python: '>=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*'
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+  name: rerun-sdk
+  version: 0.27.2
+  sha256: d0437b73a807bb4643d3a7fee163e65e0df0459e6228eb2b087692610612ce99
+  requires_dist:
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+  - numpy>=2
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+  - pyarrow>=18.0.0
+  - typing-extensions>=4.5
+  - pytest==8.4.2 ; extra == 'tests'
+  - syrupy==5.0.0 ; extra == 'tests'
+  - rerun-notebook==0.27.2 ; extra == 'notebook'
+  - datafusion==50.1.0 ; extra == 'datafusion'
+  - rerun-sdk[notebook] ; extra == 'all'
+  - rerun-sdk[datafusion] ; extra == 'all'
+  requires_python: '>=3.10'
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   - pytest>=2.8.2 ; extra == 'test'
   - shapely ; extra == 'test'
-  - pytest-cov>=2.2.0 ; extra == 'all'
+  - numpydoc ; extra == 'all'
+  - boto3>=1.2.4 ; extra == 'all'
   - ghp-import ; extra == 'all'
+  - packaging ; extra == 'all'
+  - sphinx-click ; extra == 'all'
+  - matplotlib ; extra == 'all'
+  - fsspec ; extra == 'all'
+  - hypothesis ; extra == 'all'
   - shapely ; extra == 'all'
+  - pytest>=2.8.2 ; extra == 'all'
+  - pytest-cov>=2.2.0 ; extra == 'all'
   - sphinx-rtd-theme ; extra == 'all'
   - sphinx ; extra == 'all'
-  - numpydoc ; extra == 'all'
-  - packaging ; extra == 'all'
   - ipython>=2.0 ; extra == 'all'
-  - pytest>=2.8.2 ; extra == 'all'
-  - matplotlib ; extra == 'all'
-  - hypothesis ; extra == 'all'
-  - sphinx-click ; extra == 'all'
-  - fsspec ; extra == 'all'
-  - boto3>=1.2.4 ; extra == 'all'
   requires_python: '>=3.9'
+- pypi: https://files.pythonhosted.org/packages/e7/67/ce06267c5fc5c7bb1cc027410a75cca0c5232afa1d4072ff2abe685cb923/rerun_sdk-0.27.2-cp310-abi3-manylinux_2_28_aarch64.whl
+  name: rerun-sdk
+  version: 0.27.2
+  sha256: 224d168b9673bf9237057db6beb62a3a63223d702602c2e57283089ed77acf42
+  requires_dist:
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+  - numpy>=2
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+  - pyarrow>=18.0.0
+  - typing-extensions>=4.5
+  - pytest==8.4.2 ; extra == 'tests'
+  - syrupy==5.0.0 ; extra == 'tests'
+  - rerun-notebook==0.27.2 ; extra == 'notebook'
+  - datafusion==50.1.0 ; extra == 'datafusion'
+  - rerun-sdk[notebook] ; extra == 'all'
+  - rerun-sdk[datafusion] ; extra == 'all'
+  requires_python: '>=3.10'
 - pypi: https://files.pythonhosted.org/packages/ec/56/679d06f010abf87e20dd965b46412876118a0536ab06f56a5309ec2a2b92/vmem-1.0.2.tar.gz
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diff --git a/pixi.toml b/pixi.toml
index 97d5a0f5f..63e99629b 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -17,13 +17,21 @@ platforms = ["linux-64-cuda-12-0", "win-64-cuda-12-0"]
 beautifulsoup4 = "==4.13.4"
 ceres-solver = "==2.2.0"
 cgal = "5.6.*"           # OpenMVS
+cloudpickle = "*"        # OpenSfM (parallel serialization)
 exifread = "==3.5.1"
 exiftool = "*"
+flask = "*"              # OpenSfM (viewer only)
 fpdf2 = "==2.8.3"
 gdal = "==3.11.1"
+laszip = "*"             # OpenSfM (LAZ point-cloud support)
+leidenalg = "*"          # OpenSfM (dense clustering)
+libabseil = "==20250512.1"
+lxml = "*"               # OpenSfM (exif XMP parsing)
+lz4 = "*"                # OpenSfM (feature compression)
 matplotlib = "==3.10.3"  # undeclared runtime import of codem (pypi)
 numpy = "==2.3.2"
 onnxruntime = "==1.22.2"
+opencl-headers = "==2025.06.13"  # OpenSfM
 pdal = "==2.8.4"
 piexif = "==1.1.3"
 pillow = "==11.3.0"
@@ -31,6 +39,7 @@ py-opencv = "==4.12.0"
 pygltflib = "==1.16.5"
 pyproj = "==3.7.1"
 python = "==3.12.9"
+python-igraph = "*"      # OpenSfM (dense clustering)
 python-pdal = "*"        # Avoids duplicating pdal version. Will resolve to compatible version.
 pyyaml = "==6.0.2"
 scikit-image = "==0.25.2"
@@ -46,14 +55,23 @@ codem = "==0.26.1"
 edt = "==3.0.0"
 fiona = "==1.10.1"
 pillow-jxl-plugin = "==1.3.4"
+pyarrow = "==20.0.0"     # Must match conda's libarrow (python-pdal/GDAL) or sklearn dies on import.
 pyodm = "==1.5.12"
 pysolar = "==0.13"
 rasterio = "==1.4.3"
 rawpy = "==0.25.0"
+rerun-sdk = "==0.27.2"   # OpenSfM (pinned to match its pyproject)
 vmem = "==1.0.2"
 
 [target.win-64.dependencies]
 geotiff = "*"           # PDAL's pdalcpp.dll needs geotiff.dll on PATH (prod and build)
+khronos-opencl-icd-loader = "*"  # libOpenCL (ocl-icd is not built for win-64)
+
+# libtcmalloc for bin/opensfm's LD_PRELOAD (mandatory on Linux).
+[target.linux.dependencies]
+gperftools = "==2.18.1"
+ocl-icd = "*"           # libOpenCL (absent on aarch64 otherwise)
+
 
 [feature.build.activation]
 env = { CMAKE_GENERATOR = "Ninja" }
@@ -62,6 +80,7 @@ env = { CMAKE_GENERATOR = "Ninja" }
 c-compiler = "*"
 cmake = "3.31.*"
 cxx-compiler = "*"
+fast_float = "*"        # For OpenSfM build
 git = "*"
 make = "*"              # PoissonRecon builds from a hand-written Makefile
 ninja = "*"
@@ -78,7 +97,13 @@ vs2022_win-64 = "*"
 env = { ODM_ENABLE_CUDA = "ON" }
 
 [feature.gpu-build.dependencies]
-cuda-toolkit = "12.*"
+cuda-nvcc = "12.*"
+cuda-cudart-dev = "12.*"
+libcublas-dev = "*"
+libcurand-dev = "*"   
+
+[feature.gpu-build.target.linux-64.dependencies]
+cuda-driver-dev = "12.*"
 
 [feature.gpu.dependencies]
 onnxruntime = { version = "==1.22.2", build = "*cuda*" }
diff --git a/stages/run_opensfm.py b/stages/run_opensfm.py
index 850c6ce83..367a27dcc 100644
--- a/stages/run_opensfm.py
+++ b/stages/run_opensfm.py
@@ -30,12 +30,12 @@ def process(self, args, outputs):
 
         octx = OSFMContext(tree.opensfm)
         octx.setup(args, tree.dataset_raw, reconstruction=reconstruction, rerun=self.rerun())
-        octx.photos_to_metadata(photos, args.rolling_shutter, args.rolling_shutter_readout, self.rerun())
+        octx.photos_to_metadata(photos, args.rolling_shutter, args.rolling_shutter_readout, args.gps_accuracy, self.rerun())
         self.update_progress(20)
         octx.feature_matching(self.rerun())
         self.update_progress(30)
         octx.create_tracks(self.rerun())
-        octx.reconstruct(args.rolling_shutter, reconstruction.is_georeferenced() and (not args.sfm_no_partial), self.rerun())
+        octx.reconstruct(args.sfm_algorithm, args.rolling_shutter, reconstruction.is_georeferenced() and (not args.sfm_no_partial), self.rerun())
         octx.extract_cameras(tree.path("cameras.json"), self.rerun())
         self.update_progress(70)
 
diff --git a/stages/splitmerge.py b/stages/splitmerge.py
index b9ecc47a2..18506fef3 100644
--- a/stages/splitmerge.py
+++ b/stages/splitmerge.py
@@ -64,7 +64,7 @@ def process(self, args, outputs):
                 ]
 
                 octx.setup(args, tree.dataset_raw, reconstruction=reconstruction, append_config=config, rerun=self.rerun())
-                octx.photos_to_metadata(photos, args.rolling_shutter, args.rolling_shutter_readout, self.rerun())
+                octx.photos_to_metadata(photos, args.rolling_shutter, args.rolling_shutter_readout, args.gps_accuracy, self.rerun())
 
                 self.update_progress(5)
 
@@ -130,9 +130,9 @@ def process(self, args, outputs):
                         log.ODM_INFO("Reconstructing %s" % sp)
                         local_sp_octx = OSFMContext(sp)
                         local_sp_octx.create_tracks(self.rerun())
-                        local_sp_octx.reconstruct(args.rolling_shutter, not args.sfm_no_partial, self.rerun())
+                        local_sp_octx.reconstruct(args.sfm_algorithm, args.rolling_shutter, not args.sfm_no_partial, self.rerun())
                 else:
-                    lre = LocalRemoteExecutor(args.sm_cluster, args.rolling_shutter, self.rerun())
+                    lre = LocalRemoteExecutor(args.sm_cluster, args.rolling_shutter, args.sfm_algorithm, self.rerun())
                     lre.set_projects([os.path.abspath(os.path.join(p, "..")) for p in submodel_paths])
                     lre.run_reconstruction()
 
diff --git a/tests/test_photo.py b/tests/test_photo.py
index 3d59b3d20..6b75bda28 100644
--- a/tests/test_photo.py
+++ b/tests/test_photo.py
@@ -24,5 +24,44 @@ def test_jpeg_xl(self):
         self.assertEqual(photo.pitch, 40)
         self.assertEqual(photo.roll, 0)
 
+    def _gps_std(self, xy_stddev, z_stddev, gps_accuracy=None):
+        # Return the gps block to_opensfm_exif() builds for the given stored stddev.
+        photo = ODM_Photo("tests/assets/test_0001.jxl")
+        photo.gps_xy_stddev = xy_stddev
+        photo.gps_z_stddev = z_stddev
+        return photo.to_opensfm_exif(gps_accuracy=gps_accuracy)["gps"]
+
+    def test_gps_std_per_axis(self):
+        # Horizontal and vertical are passed through independently.
+        gps = self._gps_std(0.03, 0.05)
+        self.assertAlmostEqual(gps["latitude_std"], 0.03)
+        self.assertAlmostEqual(gps["longitude_std"], 0.03)
+        self.assertAlmostEqual(gps["altitude_std"], 0.05)
+        self.assertAlmostEqual(gps["dop"], 0.05)
+
+    def test_gps_std_equal_axes(self):
+        # Equal values stay equal, no vertical multiplier.
+        gps = self._gps_std(0.05, 0.05)
+        self.assertAlmostEqual(gps["latitude_std"], 0.05)
+        self.assertAlmostEqual(gps["altitude_std"], 0.05)
+
+    def test_gps_std_missing_vertical(self):
+        # Missing vertical defaults to 3x horizontal.
+        gps = self._gps_std(0.03, None)
+        self.assertAlmostEqual(gps["latitude_std"], 0.03)
+        self.assertAlmostEqual(gps["altitude_std"], 0.09)
+
+    def test_gps_std_from_gps_accuracy(self):
+        # No stored values: use gps_accuracy, vertical is 3x.
+        gps = self._gps_std(None, None, gps_accuracy=2.0)
+        self.assertAlmostEqual(gps["latitude_std"], 2.0)
+        self.assertAlmostEqual(gps["altitude_std"], 6.0)
+
+    def test_gps_std_default(self):
+        # No stored values and no gps_accuracy: default to 10.0, vertical is 3x.
+        gps = self._gps_std(None, None)
+        self.assertAlmostEqual(gps["latitude_std"], 10.0)
+        self.assertAlmostEqual(gps["altitude_std"], 30.0)
+
 if __name__ == '__main__':
     unittest.main()
\ No newline at end of file