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

.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)

.gitignore

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

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)