From f2beea4d50116ffea64f371ebef513c2d2639b32 Mon Sep 17 00:00:00 2001
From: Mihai Dusmanu <mihai.dusmanu@gmail.com>
Date: Wed, 8 Oct 2025 17:49:13 +0200
Subject: [PATCH 1/7] Fix.

---
 Dockerfile                           | 7 +++----
 scripts/build_pcdmeshing.sh          | 9 +++++++--
 scripts/build_raybender.sh           | 8 ++++++--
 scripts/install_ceres_solver.sh      | 5 ++---
 scripts/install_colmap.sh            | 2 +-
 scripts/install_core_dependencies.sh | 4 ++--
 scripts/install_hloc.sh              | 4 ++--
 7 files changed, 23 insertions(+), 16 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index ead5864..c005640 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,5 +1,4 @@
-ARG UBUNTU_VERSION=22.04
-FROM mcr.microsoft.com/mirror/docker/library/ubuntu:${UBUNTU_VERSION} AS common
+FROM runpod/pytorch:1.0.1-cu1281-torch280-ubuntu2404 AS common
 
 # Minimal toolings.
 RUN apt-get update && \
@@ -110,7 +109,7 @@ RUN cd pyceres && \
 #
 # pyceres stage.
 #
-FROM scantools as pyceres
+FROM scantools AS pyceres
 
 # Install minimal runtime dependencies.
 RUN apt-get update && \
@@ -135,7 +134,7 @@ RUN rm -rfv /tmp/*
 #
 # lamar stage.
 #
-FROM pyceres as lamar
+FROM pyceres AS lamar
 
 # Install hloc.
 COPY scripts/install_hloc.sh /tmp/
diff --git a/scripts/build_pcdmeshing.sh b/scripts/build_pcdmeshing.sh
index 8965272..c7f1a9f 100755
--- a/scripts/build_pcdmeshing.sh
+++ b/scripts/build_pcdmeshing.sh
@@ -1,13 +1,18 @@
 #!/usr/bin/env bash
 
-root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
-source ${root_folder}/scripts/load_env.sh
+PS4='\033[0;32m$(date "+%Y%m%d %H:%M:%S.%N") $BASH_SOURCE:$LINENO]\033[0m '
+set -euxo pipefail
 
 sudo apt-get install -y --no-install-recommends --no-install-suggests \
          libboost-dev libgmp3-dev libmpfrc++-dev
 git clone --recursive https://github.com/cvg/pcdmeshing.git --depth=1
 cd pcdmeshing
 
+cd pybind11
+git fetch --tags
+git checkout v2.13.6
+cd ..
+
 # Build the wheel.
 pip wheel --no-deps -w dist-wheel .
 whl_path=$(find dist-wheel/ -name "*.whl")
diff --git a/scripts/build_raybender.sh b/scripts/build_raybender.sh
index 0f60761..edd56a8 100755
--- a/scripts/build_raybender.sh
+++ b/scripts/build_raybender.sh
@@ -1,12 +1,16 @@
 #!/usr/bin/env bash
 
-root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
-source ${root_folder}/scripts/load_env.sh
+PS4='\033[0;32m$(date "+%Y%m%d %H:%M:%S.%N") $BASH_SOURCE:$LINENO]\033[0m '
+set -euxo pipefail
 
 # Clone raybender.
 git clone --recursive https://github.com/cvg/raybender.git --depth=1
 cd raybender
 
+cd pybind11
+git pull
+cd ..
+
 # Install Embree following the official instructions and set the environmental
 # variable embree_DIR to point to embree-config.cmake. On Linux, this can be
 # done as follows:
diff --git a/scripts/install_ceres_solver.sh b/scripts/install_ceres_solver.sh
index 560438d..3d2e99b 100755
--- a/scripts/install_ceres_solver.sh
+++ b/scripts/install_ceres_solver.sh
@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
-root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
-source ${root_folder}/scripts/load_env.sh
+PS4='\033[0;32m$(date "+%Y%m%d %H:%M:%S.%N") $BASH_SOURCE:$LINENO]\033[0m '
+set -euxo pipefail
 
 apt-get install -y --no-install-recommends --no-install-suggests \
     cmake \
@@ -9,7 +9,6 @@ apt-get install -y --no-install-recommends --no-install-suggests \
     libgflags-dev \
     libatlas-base-dev \
     libeigen3-dev \
-    libsuitesparse-dev \
     build-essential
 
 git clone -b 2.1.0 https://github.com/ceres-solver/ceres-solver.git ceres-solver-v2.1.0 --depth=1
diff --git a/scripts/install_colmap.sh b/scripts/install_colmap.sh
index 8a82dd1..cec7e78 100755
--- a/scripts/install_colmap.sh
+++ b/scripts/install_colmap.sh
@@ -24,5 +24,5 @@ apt-get install -y --no-install-recommends --no-install-suggests \
 # Installing COLMAP version 3.8
 git clone --recursive -b 3.8 https://github.com/colmap/colmap colmap_v3.8 --depth=1
 cd colmap_v3.8
-cmake -S . -B build -DCMAKE_CUDA_ARCHITECTURES=all
+cmake -S . -B build -DCUDA_ENABLED=False
 cmake --build build --target install -- -j$(nproc)
diff --git a/scripts/install_core_dependencies.sh b/scripts/install_core_dependencies.sh
index 435f031..e2c8291 100755
--- a/scripts/install_core_dependencies.sh
+++ b/scripts/install_core_dependencies.sh
@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
-root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
-source ${root_folder}/scripts/load_env.sh
+PS4='\033[0;32m$(date "+%Y%m%d %H:%M:%S.%N") $BASH_SOURCE:$LINENO]\033[0m '
+set -euxo pipefail
 
 # Uncomment the following line if you want to use this script inside Docker.
 # apt-get update && apt-get install -y --no-install-recommends --no-install-suggests git python3 python3-dev python3-pip python-is-python3 sudo
diff --git a/scripts/install_hloc.sh b/scripts/install_hloc.sh
index 65399a3..5c742e1 100755
--- a/scripts/install_hloc.sh
+++ b/scripts/install_hloc.sh
@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
-root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
-source ${root_folder}/scripts/load_env.sh
+PS4='\033[0;32m$(date "+%Y%m%d %H:%M:%S.%N") $BASH_SOURCE:$LINENO]\033[0m '
+set -euxo pipefail
 
 git clone --recursive -b v1.4 https://github.com/cvg/Hierarchical-Localization/ hloc --depth=1
 cd hloc

From 5089452b2e450fe29e972fe0bac1407ec90a9071 Mon Sep 17 00:00:00 2001
From: Mihai Dusmanu <mihai.dusmanu@gmail.com>
Date: Wed, 8 Oct 2025 18:14:15 +0200
Subject: [PATCH 2/7] Fix.

---
 scripts/build_raybender.sh | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/scripts/build_raybender.sh b/scripts/build_raybender.sh
index edd56a8..5d31fe8 100755
--- a/scripts/build_raybender.sh
+++ b/scripts/build_raybender.sh
@@ -8,7 +8,8 @@ git clone --recursive https://github.com/cvg/raybender.git --depth=1
 cd raybender
 
 cd pybind11
-git pull
+git fetch --tags
+git checkout v2.13.6
 cd ..
 
 # Install Embree following the official instructions and set the environmental

From 98fdd5e4128cfb80395b7ed5e9bfc30bdb3910bc Mon Sep 17 00:00:00 2001
From: Mihai Dusmanu <mihai.dusmanu@gmail.com>
Date: Wed, 8 Oct 2025 23:03:51 +0200
Subject: [PATCH 3/7] More fixes.

---
 Dockerfile | 45 ++++++++++++++++++++++++++++-----------------
 1 file changed, 28 insertions(+), 17 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index c005640..2f9d414 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,5 +1,10 @@
 FROM runpod/pytorch:1.0.1-cu1281-torch280-ubuntu2404 AS common
 
+# To avoid compiler segfault when building the image on ARM.
+ENV CFLAGS="-fno-lto"
+ENV CXXFLAGS="-fno-lto"
+ENV LDFLAGS="-fno-lto"
+
 # Minimal toolings.
 RUN apt-get update && \
     apt-get install -y --no-install-recommends --no-install-suggests \
@@ -54,21 +59,21 @@ RUN apt-get update && \
 # Install raybender.
 COPY --from=builder /raybender/embree-3.12.2/lib /raybender/embree-3.12.2/lib
 COPY --from=builder /raybender/dist-wheel /tmp/dist-wheel
-RUN cd /tmp && whl_path=$(cat dist-wheel/whl_path.txt) && python3 -m pip install $whl_path
+RUN cd /tmp && whl_path=$(cat dist-wheel/whl_path.txt) && python3 -m pip install --ignore-installed $whl_path
 RUN rm -rfv /tmp/*
 
 # Install pcdmeshing.
 COPY --from=builder /pcdmeshing/dist-wheel /tmp/dist-wheel
 RUN apt-get install -y --no-install-recommends --no-install-suggests libmpfrc++-dev
-RUN cd /tmp && whl_path=$(cat dist-wheel/whl_path.txt) && python3 -m pip install $whl_path
+RUN cd /tmp && whl_path=$(cat dist-wheel/whl_path.txt) && python3 -m pip install --ignore-installed $whl_path
 RUN rm -rfv /tmp/*
 
-RUN python3 -m pip install --no-deps \
+RUN python3 -m pip install --ignore-installed --no-deps \
         astral==3.2 \
         beautifulsoup4==4.12.2 \
-        lxml==4.9.2 \
+        lxml==5.3.0 \
         matplotlib \
-        open3d==0.18.0 \
+        open3d==0.19.0 \
         opencv-python==4.7.0.72 \
         plyfile==1.0.3 \
         pytijo==0.0.2 \
@@ -101,27 +106,28 @@ RUN bash /tmp/install_colmap.sh
 RUN git clone --depth 1 -b v1.0 --recursive https://github.com/cvg/pyceres
 RUN python3 -m pip install --upgrade pip
 RUN apt-get install -y --no-install-recommends --no-install-suggests python3-dev
+RUN cd pyceres/pybind11 && \
+    git fetch --tags && \
+    git checkout v2.13.6
 RUN cd pyceres && \
     pip wheel . --no-deps -w dist-wheel -vv && \
     whl_path=$(find dist-wheel/ -name "*.whl") && \
     echo $whl_path >dist-wheel/whl_path.txt
 
+RUN git clone --depth=1 -b --recursive v0.4.0 https://github.com/colmap/pycolmap pycolmap
+RUN cd pycolmap/pybind11 && \
+    git fetch --tags && \
+    git checkout v2.13.6
+RUN cd pycolmap && \
+    pip wheel . --no-deps -w dist-wheel -vv && \
+    whl_path=$(find dist-wheel/ -name "*.whl") && \
+    echo $whl_path >dist-wheel/whl_path.txt
+
 #
 # pyceres stage.
 #
 FROM scantools AS pyceres
 
-# Install minimal runtime dependencies.
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends --no-install-suggests \
-        libgoogle-glog0v5 \
-        libspqr2 \
-        libcxsparse3 \
-        libatlas3-base \
-        python-is-python3 \
-        python3-minimal \
-        python3-pip
-
 # Copy installed libraries in the builder stage.
 COPY --from=pyceres-builder /usr/local/ /usr/local/
 
@@ -131,6 +137,12 @@ RUN pip install --upgrade pip
 RUN cd /tmp && whl_path=$(cat dist-wheel/whl_path.txt) && pip install $whl_path
 RUN rm -rfv /tmp/*
 
+# Install pycolmap.
+COPY --from=pyceres-builder /pycolmap/dist-wheel /tmp/dist-wheel
+RUN pip install --upgrade pip
+RUN cd /tmp && whl_path=$(cat dist-wheel/whl_path.txt) && pip install $whl_path
+RUN rm -rfv /tmp/*
+
 #
 # lamar stage.
 #
@@ -149,7 +161,6 @@ RUN python3 -m pip install --no-deps \
         numpy==1.26.3 \
         torch>=1.1 \
         tqdm>=4.36.0 \
-        pycolmap==0.4.0 \
         scikit-learn==1.5.2
 
 RUN cd /lamar && python3 -m pip install -e .  --no-deps

From dd117f6540d35a6135181ef930af3224374c0311 Mon Sep 17 00:00:00 2001
From: Mihai Dusmanu <mihai.dusmanu@gmail.com>
Date: Thu, 9 Oct 2025 10:18:37 +0200
Subject: [PATCH 4/7] Fix.

---
 Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Dockerfile b/Dockerfile
index 2f9d414..1a26264 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -114,7 +114,7 @@ RUN cd pyceres && \
     whl_path=$(find dist-wheel/ -name "*.whl") && \
     echo $whl_path >dist-wheel/whl_path.txt
 
-RUN git clone --depth=1 -b --recursive v0.4.0 https://github.com/colmap/pycolmap pycolmap
+RUN git clone --depth=1 -b v0.4.0 --recursive https://github.com/colmap/pycolmap pycolmap
 RUN cd pycolmap/pybind11 && \
     git fetch --tags && \
     git checkout v2.13.6

From 50dcb6eceb88da0d0a34dc45d50e301b7650699e Mon Sep 17 00:00:00 2001
From: Mihai Dusmanu <mihai.dusmanu@gmail.com>
Date: Thu, 9 Oct 2025 14:00:55 +0200
Subject: [PATCH 5/7] F.

---
 Dockerfile | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index 1a26264..bfae1fb 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,9 +1,9 @@
 FROM runpod/pytorch:1.0.1-cu1281-torch280-ubuntu2404 AS common
 
 # To avoid compiler segfault when building the image on ARM.
-ENV CFLAGS="-fno-lto"
-ENV CXXFLAGS="-fno-lto"
-ENV LDFLAGS="-fno-lto"
+# ENV CFLAGS="-fno-lto"
+# ENV CXXFLAGS="-fno-lto"
+# ENV LDFLAGS="-fno-lto"
 
 # Minimal toolings.
 RUN apt-get update && \

From a13b0e5152daee429604540d3164ee122a51681b Mon Sep 17 00:00:00 2001
From: Mihai Dusmanu <mihai.dusmanu@gmail.com>
Date: Thu, 9 Oct 2025 14:10:36 +0200
Subject: [PATCH 6/7] Fix.

---
 .github/workflows/docker-image.yml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.github/workflows/docker-image.yml b/.github/workflows/docker-image.yml
index db2491d..0f09359 100644
--- a/.github/workflows/docker-image.yml
+++ b/.github/workflows/docker-image.yml
@@ -27,6 +27,7 @@ jobs:
       - name: Build and push Scantools Docker image
         run: |
           DATE=$(date +%Y-%m-%d)
+          docker system prune -a --volumes --force
           docker build . --tag ghcr.io/microsoft/lamar-benchmark/scantools:$DATE --target scantools
           if [[ "${{ github.ref }}" == "refs/heads/main" ]]; then
             docker tag ghcr.io/microsoft/lamar-benchmark/scantools:$DATE \
@@ -38,6 +39,7 @@ jobs:
       - name: Build and push Lamar Docker image
         run: |
           DATE=$(date +%Y-%m-%d)
+          docker system prune -a --volumes --force
           docker build . --tag ghcr.io/microsoft/lamar-benchmark/lamar:$DATE --target lamar
           if [[ "${{ github.ref }}" == "refs/heads/main" ]]; then
             docker tag ghcr.io/microsoft/lamar-benchmark/lamar:$DATE \

From 3861eade51e5918a997fb6fd605c4128856c4523 Mon Sep 17 00:00:00 2001
From: Mihai Dusmanu <mihai.dusmanu@gmail.com>
Date: Thu, 9 Oct 2025 14:14:11 +0200
Subject: [PATCH 7/7] larger machine.

---
 .github/workflows/docker-image.yml | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/.github/workflows/docker-image.yml b/.github/workflows/docker-image.yml
index 0f09359..03387de 100644
--- a/.github/workflows/docker-image.yml
+++ b/.github/workflows/docker-image.yml
@@ -9,7 +9,7 @@ on:
 jobs:
   build-and-push:
     permissions: write-all
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-latest-4-cores
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -27,7 +27,6 @@ jobs:
       - name: Build and push Scantools Docker image
         run: |
           DATE=$(date +%Y-%m-%d)
-          docker system prune -a --volumes --force
           docker build . --tag ghcr.io/microsoft/lamar-benchmark/scantools:$DATE --target scantools
           if [[ "${{ github.ref }}" == "refs/heads/main" ]]; then
             docker tag ghcr.io/microsoft/lamar-benchmark/scantools:$DATE \
@@ -39,7 +38,6 @@ jobs:
       - name: Build and push Lamar Docker image
         run: |
           DATE=$(date +%Y-%m-%d)
-          docker system prune -a --volumes --force
           docker build . --tag ghcr.io/microsoft/lamar-benchmark/lamar:$DATE --target lamar
           if [[ "${{ github.ref }}" == "refs/heads/main" ]]; then
             docker tag ghcr.io/microsoft/lamar-benchmark/lamar:$DATE \