Update to latest colmap and use L1 solver + union-find from colmap

.github/workflows/mac.yml

@@ -17,7 +17,7 @@ jobs:
       matrix:
         config: [
           {
-            os: macos-14,
+            os: macos-15,
             arch: arm64,
             cmakeBuildType: Release,
           },

.github/workflows/ubuntu.yml

@@ -100,7 +100,7 @@ jobs:
         if: matrix.config.checkCodeFormat
         run: |
           set +x -euo pipefail
-          python -m pip install clang-format==19.1.0
+          python -m pip install clang-format==20.1.5
           ./scripts/format/c++.sh
           git diff --name-only
           git diff --exit-code || (echo "Code formatting failed" && exit 1)

.github/workflows/windows.yml

@@ -17,14 +17,7 @@ jobs:
       matrix:
         config: [
           {
-            os: windows-2022,
-            cmakeBuildType: Release,
-            cudaEnabled: true,
-            testsEnabled: true,
-            exportPackage: true,
-          },
-          {
-            os: windows-2022,
+            os: windows-2025,
             cmakeBuildType: Release,
             cudaEnabled: false,
             testsEnabled: true,
@@ -37,13 +30,13 @@ jobs:
       COMPILER_CACHE_DIR: ${{ github.workspace }}/compiler-cache
       CCACHE_DIR: ${{ github.workspace }}/compiler-cache/ccache
       CCACHE_BASEDIR: ${{ github.workspace }}
-      VCPKG_COMMIT_ID: bc3512a509f9d29b37346a7e7e929f9a26e66c7e
+      VCPKG_COMMIT_ID: 2ad7bd06128280e02bfe02361d8ffd7d465cfcf0
       GLOG_v: 1
       GLOG_logtostderr: 1
 
     steps:
       - uses: actions/checkout@v4
-      
+
       # We define the vcpkg binary sources using separate variables for read and
       # write operations:
       # * Read sources are defined as inline. These can be read by anyone and,
@@ -74,7 +67,7 @@ jobs:
           key: v${{ env.COMPILER_CACHE_VERSION }}-${{ matrix.config.os }}-${{ matrix.config.cmakeBuildType }}-${{ matrix.config.asanEnabled }}--${{ matrix.config.cudaEnabled }}-${{ github.run_id }}-${{ github.run_number }}
           restore-keys: v${{ env.COMPILER_CACHE_VERSION }}-${{ matrix.config.os }}-${{ matrix.config.cmakeBuildType }}-${{ matrix.config.asanEnabled }}--${{ matrix.config.cudaEnabled }}
           path: ${{ env.COMPILER_CACHE_DIR }}
-      
+
       - name: Install ccache
         shell: pwsh
         run: |

.gitignore

@@ -2,3 +2,4 @@
 /data
 /.vscode
 /compile_commands.json
+.cache

CMakeLists.txt

@@ -20,6 +20,17 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 set_property(GLOBAL PROPERTY GLOBAL_DEPENDS_NO_CYCLES ON)
 
+# Determine project compiler.
+if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+    set(IS_MSVC TRUE)
+endif()
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+    set(IS_GNU TRUE)
+endif()
+if(CMAKE_CXX_COMPILER_ID MATCHES ".*Clang")
+    set(IS_CLANG TRUE)
+endif()
+
 include(cmake/FindDependencies.cmake)
 
 if (TESTS_ENABLED)
@@ -45,8 +56,7 @@ else()
     message(STATUS "Disabling ccache support")
 endif()
 
-
-if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+if(IS_MSVC)
     # Some fixes for the Glog library.
     add_definitions("-DGLOG_USE_GLOG_EXPORT")
     add_definitions("-DGLOG_NO_ABBREVIATED_SEVERITIES")
@@ -62,4 +72,5 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
     endif()
 endif()
 
+add_subdirectory(thirdparty)
 add_subdirectory(glomap)

cmake/FindDependencies.cmake

@@ -1,10 +1,6 @@
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-find_package(Eigen3 3.4 REQUIRED)
-find_package(CHOLMOD QUIET)
-if(NOT TARGET SuiteSparse::CHOLMOD)
-    find_package(SuiteSparse COMPONENTS CHOLMOD REQUIRED)
-endif()
+find_package(Eigen3 REQUIRED)
 find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
 find_package(Boost REQUIRED)
 find_package(OpenMP REQUIRED COMPONENTS C CXX)
@@ -24,36 +20,6 @@ if(TESTS_ENABLED)
     find_package(GTest REQUIRED)
 endif()
 
-include(FetchContent)
-FetchContent_Declare(PoseLib
-    GIT_REPOSITORY    https://github.com/PoseLib/PoseLib.git
-    GIT_TAG           7e9f5f53372e43f89655040d4dfc4a00e5ace11c  # 2.0.5
-    EXCLUDE_FROM_ALL
-    SYSTEM
-)
-message(STATUS "Configuring PoseLib...")
-if (FETCH_POSELIB)
-    FetchContent_MakeAvailable(PoseLib)
-else()
-    find_package(PoseLib REQUIRED)
-endif()
-message(STATUS "Configuring PoseLib... done")
-
-FetchContent_Declare(COLMAP
-    GIT_REPOSITORY    https://github.com/colmap/colmap.git
-    GIT_TAG           c5f9cefc87e5dd596b638e4cee0ff543c7d14755  # Oct 23 2025
-    EXCLUDE_FROM_ALL
-)
-message(STATUS "Configuring COLMAP...")
-set(UNINSTALL_ENABLED OFF CACHE INTERNAL "")
-set(GUI_ENABLED OFF CACHE INTERNAL "")
-if (FETCH_COLMAP)
-    FetchContent_MakeAvailable(COLMAP)
-else()
-    find_package(COLMAP REQUIRED)
-endif()
-message(STATUS "Configuring COLMAP... done")
-
 set(CUDA_MIN_VERSION "7.0")
 if(CUDA_ENABLED)
     if(CMAKE_VERSION VERSION_LESS 3.17)