diff --git a/SuperBuild/CMakeLists.txt b/SuperBuild/CMakeLists.txt
index 64c67976e..1a714dc4f 100644
--- a/SuperBuild/CMakeLists.txt
+++ b/SuperBuild/CMakeLists.txt
@@ -177,10 +177,11 @@ if (WIN32)
     set (POISSON_BIN_PATH "x64/${CMAKE_BUILD_TYPE}/PoissonRecon.exe")
 else()
     # Inherit pixi/conda compiler flags (LDFLAGS for -ljpeg, etc.) from the shell environment.
-    set (POISSON_BUILD_CMD bash -lc "make -j${nproc} poissonrecon")
+    # Pre-create the output dir: PoissonRecon's Makefile races mkdir vs compile under -j (ENOENT).
+    set (POISSON_BUILD_CMD bash -lc "mkdir -p Bin/Linux && make -j${nproc} poissonrecon")
     set (POISSON_BIN_PATH "Linux/PoissonRecon")
     if (APPLE)
-        set(POISSON_BUILD_CMD bash -lc "make -j${nproc} -f Makefile.macos poissonrecon COMPILER=${CMAKE_CXX_COMPILER} CONDA_PREFIX=$ENV{CONDA_PREFIX}")
+        set(POISSON_BUILD_CMD bash -lc "mkdir -p Bin/Linux && make -j${nproc} -f Makefile.macos poissonrecon COMPILER=${CMAKE_CXX_COMPILER} CONDA_PREFIX=$ENV{CONDA_PREFIX}")
     endif()
 endif()
 externalproject_add(poissonrecon
diff --git a/SuperBuild/cmake/External-FPCFilter.cmake b/SuperBuild/cmake/External-FPCFilter.cmake
index 31d90b0f8..7ebb0dcfe 100644
--- a/SuperBuild/cmake/External-FPCFilter.cmake
+++ b/SuperBuild/cmake/External-FPCFilter.cmake
@@ -9,7 +9,7 @@ ExternalProject_Add(${_proj_name}
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
   GIT_REPOSITORY    https://github.com/OpenDroneMap/FPCFilter
-  GIT_TAG           331
+  GIT_TAG           c1467cbfa0844bff99525d79232b790e04d2b939
   #--Update/Patch step----------
   UPDATE_COMMAND    ""
   #--Configure step-------------
diff --git a/SuperBuild/cmake/External-OpenSfM.cmake b/SuperBuild/cmake/External-OpenSfM.cmake
index e2637d647..8950af384 100644
--- a/SuperBuild/cmake/External-OpenSfM.cmake
+++ b/SuperBuild/cmake/External-OpenSfM.cmake
@@ -39,11 +39,10 @@ ExternalProject_Add(${_proj_name}
   STAMP_DIR         ${_SB_BINARY_DIR}/stamp
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
-  GIT_REPOSITORY    https://github.com/OpenDroneMap/OpenSfM/
-  GIT_TAG           c5328439465e6ace011f39077d1077d7b1cdd65d
+  GIT_REPOSITORY    https://github.com/opensfm/opensfm
+  GIT_TAG           8fd3214d2a5fd0b2905905761a2a4753b9373c4a
   #--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
@@ -63,7 +62,11 @@ ExternalProject_Add(${_proj_name}
   #--Build step-----------------
   BINARY_DIR        ${_SB_BINARY_DIR}
   #--Install step---------------
-  INSTALL_COMMAND    ""
+  # See install-opensfm-modules.cmake for details
+  INSTALL_COMMAND   ${CMAKE_COMMAND}
+    -DOPENSFM_BINARY_DIR=${_SB_BINARY_DIR}
+    -DOPENSFM_PACKAGE_DIR=${SB_INSTALL_DIR}/bin/${_proj_name}/opensfm
+    -P ${CMAKE_CURRENT_LIST_DIR}/install-opensfm-modules.cmake
   #--Output logging-------------
   LOG_DOWNLOAD      OFF
   LOG_CONFIGURE     OFF
diff --git a/SuperBuild/cmake/install-opensfm-modules.cmake b/SuperBuild/cmake/install-opensfm-modules.cmake
new file mode 100644
index 000000000..77c4deb89
--- /dev/null
+++ b/SuperBuild/cmake/install-opensfm-modules.cmake
@@ -0,0 +1,21 @@
+# Copy OpenSfM's compiled py* extension modules from the build dir into the
+# package next to __init__.py so `import opensfm` can find them. scikit-build-core
+# would normally do this at packaging time, but we build with raw cmake + make.
+# Compatible with linux/win/macOS.
+file(GLOB_RECURSE _osfm_mods
+  "${OPENSFM_BINARY_DIR}/py*.so"
+  "${OPENSFM_BINARY_DIR}/py*.pyd"
+  "${OPENSFM_BINARY_DIR}/py*.dylib")
+
+if(NOT _osfm_mods)
+  message(FATAL_ERROR
+    "No OpenSfM extension modules (py*.so/.pyd/.dylib) found under "
+    "${OPENSFM_BINARY_DIR} - cannot make the opensfm package importable.")
+endif()
+
+file(COPY ${_osfm_mods} DESTINATION "${OPENSFM_PACKAGE_DIR}")
+
+foreach(_m ${_osfm_mods})
+  get_filename_component(_name "${_m}" NAME)
+  message(STATUS "OpenSfM: installed ${_name} -> ${OPENSFM_PACKAGE_DIR}")
+endforeach()
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/config.py b/opendm/config.py
index c5f5ba115..5c301e481 100755
--- a/opendm/config.py
+++ b/opendm/config.py
@@ -329,7 +329,7 @@ def config(argv=None, parser=None):
                     action=StoreValue,
                     default='incremental',
                     choices=['incremental', 'triangulation', 'planar'],
-                    help=('Choose the structure from motion algorithm. For aerial datasets, if camera GPS positions and angles are available, triangulation can generate better results. For planar scenes captured at fixed altitude with nadir-only images, planar can be much faster. '
+                    help=('Choose the structure from motion algorithm. For aerial datasets, if camera GPS positions and angles are available, triangulation can generate better results. The planar option is deprecated (no longer supported by OpenSfM) and is treated as incremental. '
                         'Can be one of: %(choices)s. Default: '
                         '%(default)s'))
 
diff --git a/opendm/osfm.py b/opendm/osfm.py
index 5db25706d..047bdec81 100644
--- a/opendm/osfm.py
+++ b/opendm/osfm.py
@@ -5,7 +5,6 @@
 import os, shutil, sys, json, argparse, copy
 import yaml
 import numpy as np
-import pyproj
 from pyproj import CRS
 from opendm import io
 from opendm import log
@@ -22,8 +21,8 @@
 from opensfm import report
 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
+from opensfm import multiview, exif, geo
+
 
 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:
@@ -126,6 +131,45 @@ def check_merge_partial_reconstructions(self):
 
                 data.save_reconstruction([merged])
 
+    def export_geocoords(self, proj4, offset_x, offset_y):
+        """
+        Export the reconstruction to map coordinates (e.g. UTM), then shift it
+        close to the origin.
+
+        Map coordinates are large numbers that lose precision in the float-based
+        MVS and meshing steps, so we subtract a fixed origin to keep values small.
+        odm_georeferencing adds the origin back for the final outputs. (OpenSfM
+        used to do this via the removed --offset-x/--offset-y flags.)
+
+        We project and shift in one pass rather than calling OpenSfM's
+        export_geocoords, which saves at full map scale first. The projection
+        leaves camera rotations slightly non-orthonormal, and OpenSfM
+        re-orthonormalizes them on reload; at map scale (northings in the
+        millions) that rounding shifts cameras hundreds of metres off the points.
+        Subtracting the origin before saving keeps everything at local scale,
+        where the rounding is negligible.
+
+        The shift moves the camera positions and the 3D points. Camera positions
+        live on rig instances, so we move those, not individual shots: OpenSfM
+        errors when moving a shot that shares a rig with others (multi-camera,
+        multispectral, panorama).
+        """
+        geocoords_file = 'reconstruction.geocoords.json'
+        data = DataSet(self.opensfm_project_path)
+        reconstructions = data.load_reconstruction()
+
+        projection = geo.construct_proj_transformer(proj4, inverse=True)
+        offset = np.array([offset_x, offset_y, 0.0])
+        for r in reconstructions:
+            geo.transform_reconstruction_with_proj(r, projection)
+            for rig_instance in r.rig_instances.values():
+                pose = rig_instance.pose
+                pose.set_origin(pose.get_origin() - offset)
+            for point in r.points.values():
+                point.coordinates = list(np.array(point.coordinates) - offset)
+
+        data.save_reconstruction(reconstructions, geocoords_file)
+
     def setup(self, args, images_path, reconstruction, append_config = [], rerun=False):
         """
         Setup a OpenSfM project
@@ -256,7 +300,6 @@ 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",
@@ -272,7 +315,7 @@ def setup(self, args, images_path, reconstruction, append_config = [], rerun=Fal
                     log.ODM_WARNING("Georeferenced reconstruction, ignoring --matcher-order")
 
             if args.camera_lens != 'auto':
-                config.append("camera_projection_type: %s" % args.camera_lens.upper())
+                config.append("default_projection_type: %s" % args.camera_lens)
 
             matcher_type = args.matcher_type
             feature_type = args.feature_type.upper()
@@ -372,7 +415,7 @@ 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 +431,7 @@ 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))
 
@@ -488,13 +531,49 @@ def convert_and_undistort(self, rerun=False, imageFilter=None, image_list=None,
             if image_list is not None:
                 ds._set_image_list(image_list)
 
-            undistort.run_dataset(ds, "reconstruction.json", 
-                                  0, None, "undistorted", imageFilter)
-            
+            # OpenSfM 1.0 removed a callback during image undistortion.
+            # Wrapper to make current ODM compatible with change.
+            filter_calls = None
+            if imageFilter is not None:
+                filter_calls = self._wrap_load_image_with_filter(ds, imageFilter)
+
+            undistort.run_dataset(ds, "reconstruction.json", 0, None, "undistorted")
+
+            # TODO: this only works because OpenSfM undistorts with threads, so our wrapped
+            # load_image is the one the workers call. If it ever moves to separate processes
+            # the wrapper is bypassed and processing is skipped, so we throw an error if that happens.
+            if filter_calls is not None and filter_calls[0] == 0:
+                raise system.ExitException("Undistortion skipped ODM image processing; "
+                                           "OpenSfM's undistort backend may have changed.")
+
             self.touch(done_flag_file)
         else:
             log.ODM_WARNING("Already undistorted (%s)" % runId)
 
+    @staticmethod
+    def _wrap_load_image_with_filter(ds, imageFilter):
+        """Run ODM's per-image processing during OpenSfM's undistortion.
+
+        OpenSfM loads every image through ds.load_image, so wrapping it runs our
+        callback (plus an alpha-channel drop undistortion can't handle) on each image.
+        Returns a one-element list of how many times it ran, so the caller can confirm
+        it was used.
+        """
+        calls = [0]
+        original_load_image = ds.load_image
+
+        def load_image_with_filter(image, *args, **kwargs):
+            img = original_load_image(image, *args, **kwargs)
+            if img is not None:
+                img = imageFilter(image, img)
+                if len(img.shape) == 3 and img.shape[2] > 3:
+                    img = img[:, :, :3]
+                calls[0] += 1
+            return img
+
+        ds.load_image = load_image_with_filter
+        return calls
+
     def restore_reconstruction_backup(self):
         if os.path.exists(self.recon_backup_file()):
             # This time export the actual reconstruction.json
@@ -570,7 +649,10 @@ def export_report(self, report_path, odm_stats, rerun=False):
         osfm_report_path = self.path("stats", "report.pdf")
         if not os.path.exists(report_path) or rerun:
             data = DataSet(self.opensfm_project_path)
-            pdf_report = report.Report(data, odm_stats)
+            # FIXME in order to integrate OpenSfM 1.0 we drop the ODM specific
+            # stats.json --> report data for now.
+            # This could be added back in later.
+            pdf_report = report.Report(data)
             pdf_report.generate_report()
             pdf_report.save_report("report.pdf")
             
@@ -619,11 +701,11 @@ def ground_control_points(self, proj4):
         
         ds = DataSet(self.opensfm_project_path)
         reference = ds.load_reference()
-        projection = pyproj.Proj(proj4)
+        projection = geo.construct_proj_transformer(proj4, inverse=True)
 
         result = []
         for gcp in gcps_stats:
-            geocoords = _transform(gcp['coordinates'], reference, projection)
+            geocoords = geo.transform_to_proj(gcp['coordinates'], reference, projection)
             result.append({
                 'id': gcp['id'],
                 'observations': gcp['observations'],
diff --git a/opendm/photo.py b/opendm/photo.py
index eaa3433cb..4288694a4 100644
--- a/opendm/photo.py
+++ b/opendm/photo.py
@@ -821,7 +821,7 @@ 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
@@ -838,10 +838,22 @@ 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 d5b93a6e7..9545ffe42 100644
--- a/opendm/remote.py
+++ b/opendm/remote.py
@@ -26,12 +26,13 @@ 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
@@ -446,7 +447,7 @@ 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 2aab5b897..bc6aa16ce 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1,9 +1,48 @@
 version: 7
 platforms:
 - name: linux-64
+  virtual-packages:
+  - __unix=0=0
+  - __linux=4.18
+  - __glibc=2.28
+  - __archspec=0=x86_64
 - name: linux-aarch64
+  virtual-packages:
+  - __unix=0=0
+  - __linux=4.18
+  - __glibc=2.28
+  - __archspec=0=aarch64
 - name: osx-arm64
+  virtual-packages:
+  - __unix=0=0
+  - __osx=13.0
+  - __archspec=0=m1
+- name: p1
+  subdir: linux-64
+  virtual-packages:
+  - __cuda=12.0
+  - __unix=0=0
+  - __linux=4.18
+  - __glibc=2.28
+  - __archspec=0=x86_64
+- name: p2
+  subdir: win-64
+  virtual-packages:
+  - __cuda=12.0
+  - __win=10.0
+  - __archspec=0=x86_64
+- name: p3
+  subdir: linux-aarch64
+  virtual-packages:
+  - __cuda=12.0
+  - __unix=0=0
+  - __linux=4.18
+  - __glibc=2.28
+  - __archspec=0=aarch64
 - name: win-64
+  virtual-packages:
+  - __win=10.0
+  - __archspec=0=x86_64
 environments:
   default:
     channels:
@@ -15,6 +54,7 @@ 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
@@ -63,6 +103,7 @@ 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
@@ -83,6 +124,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/giflib-5.2.2-hd590300_0.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
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+  requires_dist:
+  - psleak ; extra == 'dev'
+  - pytest ; extra == 'dev'
+  - pytest-instafail ; extra == 'dev'
+  - pytest-xdist ; extra == 'dev'
+  - setuptools ; extra == 'dev'
+  - abi3audit ; extra == 'dev'
+  - black ; extra == 'dev'
+  - check-manifest ; extra == 'dev'
+  - coverage ; extra == 'dev'
+  - packaging ; extra == 'dev'
+  - pylint ; extra == 'dev'
+  - pyperf ; extra == 'dev'
+  - pypinfo ; extra == 'dev'
+  - pytest-cov ; extra == 'dev'
+  - requests ; extra == 'dev'
+  - rstcheck ; extra == 'dev'
+  - ruff ; extra == 'dev'
+  - sphinx ; extra == 'dev'
+  - sphinx-rtd-theme ; extra == 'dev'
+  - toml-sort ; extra == 'dev'
+  - twine ; extra == 'dev'
+  - validate-pyproject[all] ; extra == 'dev'
+  - virtualenv ; extra == 'dev'
+  - vulture ; extra == 'dev'
+  - wheel ; extra == 'dev'
+  - colorama ; os_name == 'nt' and extra == 'dev'
+  - pyreadline3 ; os_name == 'nt' and extra == 'dev'
+  - pywin32 ; implementation_name != 'pypy' and os_name == 'nt' and extra == 'dev'
+  - wheel ; implementation_name != 'pypy' and os_name == 'nt' and extra == 'dev'
+  - wmi ; implementation_name != 'pypy' and os_name == 'nt' and extra == 'dev'
+  - psleak ; extra == 'test'
+  - pytest ; extra == 'test'
+  - pytest-instafail ; extra == 'test'
+  - pytest-xdist ; extra == 'test'
+  - setuptools ; extra == 'test'
+  - pywin32 ; implementation_name != 'pypy' and os_name == 'nt' and extra == 'test'
+  - wheel ; implementation_name != 'pypy' and os_name == 'nt' and extra == 'test'
+  - wmi ; implementation_name != 'pypy' and os_name == 'nt' and extra == 'test'
+  requires_python: '>=3.6'
 - pypi: https://files.pythonhosted.org/packages/ba/45/693c1cca53023aaf6e3adc11422080f5fa427484e7b85e48f19c40d6357f/fiona-1.10.1-cp312-cp312-macosx_11_0_arm64.whl
   name: fiona
   version: 1.10.1
@@ -32469,13 +33686,6 @@ packages:
   - ipython>=2.0 ; extra == 'all'
   - pytest>=2.8.2 ; extra == 'all'
   requires_python: '>=3.9'
-- pypi: https://files.pythonhosted.org/packages/c7/0d/67e5b4109ea4a837e80daa87c2c696711955e40449a97e8926672534def2/click-8.4.1-py3-none-any.whl
-  name: click
-  version: 8.4.1
-  sha256: 482be17c6991b8c19c5429a1e995d9b0efdbb63172824c41f99965dc0ade8ec2
-  requires_dist:
-  - colorama ; sys_platform == 'win32'
-  requires_python: '>=3.10'
 - pypi: https://files.pythonhosted.org/packages/d1/d6/3965ed04c63042e047cb6a3e6ed1a63a35087b6a609aa3a15ed8ac56c221/colorama-0.4.6-py2.py3-none-any.whl
   name: colorama
   version: 0.4.6
@@ -32538,20 +33748,20 @@ packages:
   - pytest-cov>=2.2.0 ; extra == 'test'
   - pytest>=2.8.2 ; extra == 'test'
   - shapely ; extra == 'test'
-  - hypothesis ; extra == 'all'
-  - sphinx-rtd-theme ; extra == 'all'
-  - matplotlib ; extra == 'all'
-  - ghp-import ; extra == 'all'
+  - ipython>=2.0 ; extra == 'all'
   - sphinx-click ; extra == 'all'
-  - fsspec ; extra == 'all'
-  - boto3>=1.2.4 ; extra == 'all'
+  - hypothesis ; extra == 'all'
   - numpydoc ; extra == 'all'
-  - packaging ; extra == 'all'
+  - sphinx-rtd-theme ; extra == 'all'
   - sphinx ; extra == 'all'
   - pytest>=2.8.2 ; extra == 'all'
-  - ipython>=2.0 ; extra == 'all'
-  - pytest-cov>=2.2.0 ; extra == 'all'
+  - packaging ; extra == 'all'
   - shapely ; extra == 'all'
+  - fsspec ; extra == 'all'
+  - ghp-import ; extra == 'all'
+  - matplotlib ; extra == 'all'
+  - boto3>=1.2.4 ; extra == 'all'
+  - pytest-cov>=2.2.0 ; extra == 'all'
   requires_python: '>=3.9'
 - pypi: https://files.pythonhosted.org/packages/ec/56/679d06f010abf87e20dd965b46412876118a0536ab06f56a5309ec2a2b92/vmem-1.0.2.tar.gz
   name: vmem
@@ -32568,8 +33778,56 @@ packages:
   - pytest ; extra == 'dev'
   - pyexiv2 ; extra == 'dev'
   requires_python: '>=3.9'
+- pypi: https://files.pythonhosted.org/packages/f1/3a/07125af48ef024c573acadf1bfedd406bcc838ffa1af0d7b20bd79895267/rerun_sdk-0.34.1-cp310-abi3-win_amd64.whl
+  name: rerun-sdk
+  version: 0.34.1
+  sha256: 3448b34d385994a32caaa4e3ffd42b69069ab7791382d8936089e4928ca24cd6
+  requires_dist:
+  - attrs>=23.1.0
+  - numpy>=2
+  - pillow>=8.0.0
+  - psutil>=7.0
+  - pyarrow>=18.0.0
+  - typing-extensions>=4.5
+  - av>=14.2.0 ; extra == 'tests'
+  - inline-snapshot==0.31.1 ; extra == 'tests'
+  - opencv-python>4.6 ; extra == 'tests'
+  - pandas>=2 ; extra == 'tests'
+  - polars==1.36.1 ; extra == 'tests'
+  - pytest==9.0.3 ; extra == 'tests'
+  - semver>=3.0,<3.1 ; extra == 'tests'
+  - syrupy==5.0.0 ; extra == 'tests'
+  - tomli==2.0.1 ; extra == 'tests'
+  - torch>=2.5 ; extra == 'tests'
+  - torchvision ; extra == 'tests'
+  - datafusion==53.0.0 ; extra == 'tests'
+  - rerun-notebook==0.34.1 ; extra == 'notebook'
+  - datafusion==53.0.0 ; extra == 'datafusion'
+  - pandas>=2 ; extra == 'datafusion'
+  - datafusion==53.0.0 ; extra == 'dataplatform'
+  - pandas>=2 ; extra == 'dataplatform'
+  - datafusion==53.0.0 ; extra == 'catalog'
+  - pandas>=2 ; extra == 'catalog'
+  - torch>=2.5 ; extra == 'dataloader'
+  - torchvision ; extra == 'dataloader'
+  - av ; extra == 'dataloader'
+  - pillow>=8.0.0 ; extra == 'dataloader'
+  - opentelemetry-api ; extra == 'tracing'
+  - opentelemetry-sdk ; extra == 'tracing'
+  - opentelemetry-exporter-otlp-proto-grpc ; extra == 'tracing'
+  - datafusion==53.0.0 ; extra == 'all'
+  - pandas>=2 ; extra == 'all'
+  - rerun-notebook==0.34.1 ; extra == 'all'
+  requires_python: '>=3.10'
 - pypi: https://files.pythonhosted.org/packages/f8/e3/0fadc706008ac9d7b9b5be6dc767c05f9d3e5df51744ce4cc9605de7b9f4/charset_normalizer-3.4.7-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl
   name: charset-normalizer
   version: 3.4.7
   sha256: 6178f72c5508bfc5fd446a5905e698c6212932f25bcdd4b47a757a50605a90e2
   requires_python: '>=3.7'
+- pypi: https://files.pythonhosted.org/packages/fb/e2/79c688af8b210d232694e31e59da9f6ec747bae31c3f5946e4e9b98860d5/click-8.4.2-py3-none-any.whl
+  name: click
+  version: 8.4.2
+  sha256: e6f9f66136c816745b9d65817da91d61d957fb16e02e4dcd0552553c5a197b76
+  requires_dist:
+  - colorama ; sys_platform == 'win32'
+  requires_python: '>=3.10'
diff --git a/pixi.toml b/pixi.toml
index 0cd662210..b63539542 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -11,16 +11,22 @@ exifread = "==3.5.1"
 exiftool = "*"
 fpdf2 = "==2.8.3"
 gdal = "==3.11.1"
+laszip = "*"             # OpenSfM
+leidenalg = "*"          # OpenSfM (dense clustering)
+libabseil = "*"          # OpenSfM
+lz4 = "*"                # OpenSfM
 matplotlib = "==3.10.3"  # undeclared runtime import of codem (pypi)
 numpy = "==2.3.2"
 onnxruntime = "==1.22.2"
 pdal = "==2.8.4"
 piexif = "==1.1.3"
 pillow = "==11.3.0"
+proj = "*"               # OpenSfM
 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"
@@ -40,6 +46,7 @@ pyodm = "==1.5.12"
 pysolar = "==0.13"
 rasterio = "==1.4.3"
 rawpy = "==0.25.0"
+rerun-sdk = "==0.34.1"
 vmem = "==1.0.2"
 
 [target.win-64.dependencies]
@@ -52,6 +59,7 @@ 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 = "*"
@@ -81,21 +89,26 @@ onnxruntime = { version = "==1.22.2", build = "*cuda*" }
 [feature.gpu.target.win-64.dependencies]
 onnxruntime = { version = "==1.22.2", build = "*cuda*" }
 
+# libtcmalloc for opensfm's LD_PRELOAD; runtime-only so it isn't linked into the python extensions at build time (which crashes on import).
+[feature.runtime.target.linux.dependencies]
+gperftools = "==2.18.1"
+
 [environments]
 default = { features = ["build"], solve-group = "default" }
-prod = { solve-group = "default" }  # runtime only: no compilers/cmake/etc.
+prod = { features = ["runtime"], solve-group = "default" }  # runtime only: no compilers/cmake/etc.
 gpu = { features = ["build", "gpu-build", "gpu"], solve-group = "gpu" }
-gpu-prod = { features = ["gpu"], solve-group = "gpu" }
+gpu-prod = { features = ["runtime", "gpu"], solve-group = "gpu" }
 
 [target.win-64.activation]
 scripts = ["scripts/activate-msvc.bat"]
-env = { PYTHONUTF8 = "1" }
+# Binaries at build stage are under prod env, so we must set this
+env = { PYTHONUTF8 = "1", PATH = "$PIXI_PROJECT_ROOT/SuperBuild/install/bin;$CONDA_PREFIX/Library/bin;$PATH" }
 
 [target.linux.activation.env]
-LD_LIBRARY_PATH = "$PIXI_PROJECT_ROOT/SuperBuild/install/lib:$LD_LIBRARY_PATH"
+LD_LIBRARY_PATH = "$PIXI_PROJECT_ROOT/SuperBuild/install/lib:$CONDA_PREFIX/lib:$LD_LIBRARY_PATH"
 
 [target.osx.activation.env]
-DYLD_LIBRARY_PATH = "$PIXI_PROJECT_ROOT/SuperBuild/install/lib:$DYLD_LIBRARY_PATH"
+DYLD_LIBRARY_PATH = "$PIXI_PROJECT_ROOT/SuperBuild/install/lib:$CONDA_PREFIX/lib:$DYLD_LIBRARY_PATH"
 
 [tasks]
 build = { cmd = "cmake -S SuperBuild -B SuperBuild/build && cmake --build SuperBuild/build", description = "Configure and compile SuperBuild" }
diff --git a/stages/dataset.py b/stages/dataset.py
index 924b8c0a8..572d01fee 100644
--- a/stages/dataset.py
+++ b/stages/dataset.py
@@ -1,6 +1,7 @@
 import os
 import json
 
+from pathlib import Path
 from opendm import context
 from opendm import io
 from opendm import types
@@ -17,6 +18,29 @@
 from opendm.concurrency import parallel_map
 from opendm.video.video2dataset import Parameters, Video2Dataset
 
+def rename_files_with_spaces(images_dir, supported_extensions):
+    """Rename files in the ./images directory if they have spaces.
+    
+    OpenSfM rejects spaces in image names (NVM export and mask_list.txt).
+    Rename offending images and masks in-place so downstream only sees clean names.
+    """
+    renamed = 0
+    for f in Path(images_dir).iterdir():
+        if " " not in f.name:
+            continue
+        is_image = f.suffix.lower() in supported_extensions
+        is_mask = f.stem.endswith("_mask") and f.suffix.lower() in supported_extensions
+        if not (is_image or is_mask):
+            continue
+        dst = f.with_name(f.name.replace(" ", "_"))
+        if dst.exists():
+            log.ODM_WARNING("Cannot rename '%s' to '%s' (target exists), skipping" % (f.name, dst.name))
+            continue
+        f.rename(dst)
+        renamed += 1
+    if renamed > 0:
+        log.ODM_WARNING("Renamed %s file(s) containing spaces (OpenSfM requirement)" % renamed)
+
 def save_images_database(photos, database_file):
     with open(database_file, 'w') as f:
         f.write(json.dumps([p.__dict__ for p in photos]))
@@ -151,6 +175,9 @@ def find_mask(photo_path, masks):
                     except Exception as e:
                         log.ODM_WARNING("Could not extract video frames: %s" % str(e))
 
+            # Fix for OpenSfM support
+            rename_files_with_spaces(images_dir, context.supported_extensions)
+
             files, rejects = get_images(images_dir)
             if files:
                 # create ODMPhoto list
diff --git a/stages/run_opensfm.py b/stages/run_opensfm.py
index 850c6ce83..9a2d3ba9e 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)
 
@@ -70,8 +70,7 @@ def cleanup_disk_space():
 
         # We now switch to a geographic CRS
         if reconstruction.is_georeferenced() and (not io.file_exists(tree.opensfm_topocentric_reconstruction) or self.rerun()):
-            octx.run('export_geocoords --reconstruction --proj "%s" --offset-x %s --offset-y %s' % 
-                (reconstruction.georef.proj4(), reconstruction.georef.utm_east_offset, reconstruction.georef.utm_north_offset))
+            octx.export_geocoords(reconstruction.georef.proj4(), reconstruction.georef.utm_east_offset, reconstruction.georef.utm_north_offset)
             shutil.move(tree.opensfm_reconstruction, tree.opensfm_topocentric_reconstruction)
             shutil.move(tree.opensfm_geocoords_reconstruction, tree.opensfm_reconstruction)
         else:
diff --git a/stages/splitmerge.py b/stages/splitmerge.py
index 1b69c3f81..c1634f2d9 100644
--- a/stages/splitmerge.py
+++ b/stages/splitmerge.py
@@ -63,7 +63,7 @@ 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)
 
@@ -129,9 +129,9 @@ 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