diff --git a/.github/workflows/docker-gpu.yaml b/.github/workflows/docker-gpu.yaml
index 80381734a..5d520b458 100644
--- a/.github/workflows/docker-gpu.yaml
+++ b/.github/workflows/docker-gpu.yaml
@@ -38,6 +38,11 @@ jobs:
       push: ${{ github.ref == 'refs/heads/master' || startsWith(github.ref, 'refs/tags/v') }}
       file: ./gpu.Dockerfile
       target: runtime
+      # The SuperBuild nests ninja inside ninja; uncapped, both levels run
+      # cores+2 jobs and the free 16 GB runner is starved until GitHub kills
+      # it. cmake --build honours this at both levels, so 3 bounds it at 9.
+      build-args: |
+        CMAKE_BUILD_PARALLEL_LEVEL=3
       platforms: linux/amd64
       set-meta-labels: true
       meta-images: opendronemap/odm
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
index 41261e12e..794d471a9 100644
--- a/.github/workflows/docker.yaml
+++ b/.github/workflows/docker.yaml
@@ -25,6 +25,11 @@ jobs:
       push: ${{ github.ref == 'refs/heads/master' || startsWith(github.ref, 'refs/tags/v') }}
       file: ./Dockerfile
       target: runtime
+      # The SuperBuild nests ninja inside ninja; uncapped, both levels run
+      # cores+2 jobs and the free 16 GB runner is starved until GitHub kills
+      # it. cmake --build honours this at both levels, so 3 bounds it at 9.
+      build-args: |
+        CMAKE_BUILD_PARALLEL_LEVEL=3
       platforms: |
         linux/amd64
         linux/arm64
diff --git a/Dockerfile b/Dockerfile
index 7c47f360e..4d92244eb 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -19,6 +19,7 @@ RUN pixi install --locked \
     && rm -rf .pixi/envs/prod/include .pixi/envs/prod/share/doc .pixi/envs/prod/share/man .pixi/envs/prod/share/info
 
 COPY . ./
+ARG CMAKE_BUILD_PARALLEL_LEVEL
 RUN pixi run build && pixi run test
 
 RUN mkdir -p /odm-runtime/SuperBuild /odm-runtime/scripts \
diff --git a/SuperBuild/CMakeLists.txt b/SuperBuild/CMakeLists.txt
index 4f5d842c5..576803e7e 100644
--- a/SuperBuild/CMakeLists.txt
+++ b/SuperBuild/CMakeLists.txt
@@ -140,10 +140,6 @@ externalproject_add(mve
     INSTALL_COMMAND ""
 )
 
-foreach(lib ${custom_libs})
-	SETUP_EXTERNAL_PROJECT_CUSTOM(${lib})
-endforeach()
-
 include(ProcessorCount)
 if(DEFINED ENV{CMAKE_BUILD_PARALLEL_LEVEL})
   set(nproc $ENV{CMAKE_BUILD_PARALLEL_LEVEL})
@@ -151,6 +147,10 @@ else()
   ProcessorCount(nproc)
 endif()
 
+foreach(lib ${custom_libs})
+	SETUP_EXTERNAL_PROJECT_CUSTOM(${lib})
+endforeach()
+
 if (WIN32)
     find_program(MSBUILD_EXECUTABLE msbuild REQUIRED)
     if(NOT CMAKE_VS_PLATFORM_TOOLSET)
diff --git a/SuperBuild/cmake/External-OpenMVS.cmake b/SuperBuild/cmake/External-OpenMVS.cmake
index 7eb58fbd7..0d9455c8e 100644
--- a/SuperBuild/cmake/External-OpenMVS.cmake
+++ b/SuperBuild/cmake/External-OpenMVS.cmake
@@ -100,7 +100,7 @@ ExternalProject_Add(${_proj_name}
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
   GIT_REPOSITORY    https://github.com/OpenDroneMap/openMVS
-  GIT_TAG           355
+  GIT_TAG           e7eda74782ffb97ec09a684e88361458e7ec2d1e
   #--Update/Patch step----------
   UPDATE_COMMAND    ""
   PATCH_COMMAND     ${OPENMVS_PATCH_COMMAND}
@@ -116,6 +116,7 @@ ExternalProject_Add(${_proj_name}
     -DOpenMVS_MAX_CUDA_COMPATIBILITY=ON
     -DINSTALL_USE_SUBDIR=OFF
     -DOpenMVS_USE_CUDA=${SB_ENABLE_CUDA}
+    -DCMAKE_CUDA_ARCHITECTURES=OFF
     ${GPU_CMAKE_ARGS}
     ${CONDA_CMAKE_ARGS}
     ${OPENMVS_WIN_CONDA_ARGS}
diff --git a/SuperBuild/cmake/External-OpenSfM.cmake b/SuperBuild/cmake/External-OpenSfM.cmake
index 6b3b78dff..5bd2239c2 100644
--- a/SuperBuild/cmake/External-OpenSfM.cmake
+++ b/SuperBuild/cmake/External-OpenSfM.cmake
@@ -1,7 +1,5 @@
 set(_proj_name opensfm)
 set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
-include(ProcessorCount)
-ProcessorCount(nproc)
 
 set(EXTRA_INCLUDE_DIRS "")
 set(OPENSFM_ADDITIONAL_INCLUDE_DIRS "")
@@ -19,7 +17,7 @@ if(WIN32)
   set(OPENSFM_EXTRA_LINKER_FLAGS "$ENV{CONDA_PREFIX}/Library/lib/glog.lib $ENV{CONDA_PREFIX}/Library/lib/gflags.lib")
 else()
   set(OPENSFM_ADDITIONAL_INCLUDE_DIRS "${SB_INSTALL_DIR}/include")
-  set(BUILD_CMD ${CMAKE_COMMAND} --build . --parallel ${nproc})
+  set(BUILD_CMD ${CMAKE_COMMAND} --build .)
 endif()
 
 set(OPENSFM_CERES_ROOT_DIR "${SB_INSTALL_DIR}")
diff --git a/gpu.Dockerfile b/gpu.Dockerfile
index 15cc0822a..27f5dcf5d 100644
--- a/gpu.Dockerfile
+++ b/gpu.Dockerfile
@@ -23,6 +23,7 @@ RUN pixi install --locked -e gpu \
     && rm -rf .pixi/envs/gpu-prod/include .pixi/envs/gpu-prod/share/doc .pixi/envs/gpu-prod/share/man .pixi/envs/gpu-prod/share/info
 
 COPY . ./
+ARG CMAKE_BUILD_PARALLEL_LEVEL
 RUN pixi run -e gpu build && pixi run -e gpu test
 
 RUN mkdir -p /odm-runtime/SuperBuild /odm-runtime/scripts \
diff --git a/opendm/config.py b/opendm/config.py
index c5f5ba115..5c3909907 100755
--- a/opendm/config.py
+++ b/opendm/config.py
@@ -71,6 +71,10 @@
     'pc_quality': 'opensfm',
     'pc_rectify': 'odm_georeferencing',
     'pc_sample': 'odm_filterpoints',
+    'pc_fusion_filter': 'openmvs',
+    'pc_fusion_depth_diff': 'openmvs',
+    'pc_fusion_reprojection': 'openmvs',
+    'pc_crop_to_roi': 'openmvs',
     'pc_skip_geometric': 'openmvs',
     'primary_band': 'dataset',
     'project_path': None,
@@ -510,6 +514,41 @@ def config(argv=None, parser=None):
                         help='Filters the point cloud by keeping only a single point around a radius N (in meters). This can be useful to limit the output resolution of the point cloud and remove duplicate points. Set to 0 to disable sampling. '
                              'Default: %(default)s')
 
+    parser.add_argument('--pc-fusion-filter',
+                        metavar='<string>',
+                        action=StoreValue,
+                        default='fuse',
+                        choices=['merge', 'fuse', 'dense-fuse'],
+                        help='Select algorithm to fuse the depth-maps into a point cloud. '
+                             '"merge" Keeps everything, i.e. one point per depth pixel. '
+                             '"fuse" aggregates points and keeps the weighted mean (projecting back the point into other depth maps) '
+                             '"dense-fuse" applies a stricter consensus, it requires a certain amount (default 5) to actually create the point.'
+                             'Can be one of: %(choices)s. Default: %(default)s')
+
+    parser.add_argument('--pc-fusion-depth-diff',
+                        metavar='<positive float>',
+                        action=StoreValue,
+                        type=float,
+                        default=0.01,
+                        help='Maximum relative depth difference, as a fraction of the depth, for two depth estimates to be fused. '
+                             'Default: %(default)s')
+
+    parser.add_argument('--pc-fusion-reprojection',
+                        metavar='<positive float>',
+                        action=StoreValue,
+                        type=float,
+                        default=1.2,
+                        help='Maximum reprojection distance in pixels for two depth estimates to be fused.'
+                             'Only used by "dense-fuse".'
+                             'Default: %(default)s')
+
+    parser.add_argument('--pc-crop-to-roi',
+                        action=StoreTrue,
+                        nargs=0,
+                        default=False,
+                        help='Crop the point cloud to the ROI (region of interest), if not given, it is estimated by OpenMVS'
+                             'Default: %(default)s')
+
     parser.add_argument('--pc-skip-geometric',
                         action=StoreTrue,
                         nargs=0,
diff --git a/pixi.lock b/pixi.lock
index e0c608d3b..a2f2ab700 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -80,8 +80,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.4-h3394656_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/capnproto-1.2.0-hfc315d8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ceres-solver-2.2.0-cpugplhc142d66_210.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cgal-5.6.1-py312h69444aa_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/cgal-cpp-5.6.1-hd557e15_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cgal-6.0.1-py312hd58c7e2_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cgal-cpp-6.0.1-h9b37d73_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/charls-2.4.4-hecca717_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.31.8-hc85cc9f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-14.4.0-h611768e_1.conda
@@ -158,9 +158,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libass-0.17.4-h96ad9f0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libavif16-1.3.0-h6395336_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libblas-3.11.0-8_h4a7cf45_openblas.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-1.86.0-hed09d94_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-devel-1.86.0-hfcd1e18_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-headers-1.86.0-ha770c72_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-1.88.0-hed09d94_6.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-devel-1.88.0-hfcd1e18_6.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-headers-1.88.0-ha770c72_6.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlicommon-1.1.0-hb03c661_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlidec-1.1.0-hb03c661_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlienc-1.1.0-hb03c661_4.conda
@@ -317,6 +317,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/mpfr-4.2.2-he0a73b1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/mpg123-1.32.9-hc50e24c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/muparser-2.3.5-h5888daf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/nanoflann-1.6.1-hff21bea_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.6-hdb14827_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ninja-1.13.2-h171cf75_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/nitro-2.7.dev8-h59595ed_0.conda
@@ -537,8 +538,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/cairo-1.18.4-h83712da_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/capnproto-1.2.0-h272d560_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/ceres-solver-2.2.0-cpugplhc057b3f_210.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/cgal-5.6.1-py312h6230e42_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/cgal-cpp-5.6.1-h578bb86_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/cgal-6.0.1-py312h5ad6c5f_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/cgal-cpp-6.0.1-h3fceeef_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/charls-2.4.4-hfae3067_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/cmake-3.31.8-hc9d863e_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/contourpy-1.3.3-py312hf18b547_4.conda
@@ -611,9 +612,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libass-0.17.4-hcfe818d_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libavif16-1.3.0-hfe54310_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libblas-3.11.0-8_haddc8a3_openblas.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libboost-1.86.0-h6339299_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libboost-devel-1.86.0-h37bb5a9_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libboost-headers-1.86.0-h8af1aa0_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libboost-1.88.0-h6339299_6.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libboost-devel-1.88.0-h37bb5a9_6.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libboost-headers-1.88.0-h8af1aa0_6.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libbrotlicommon-1.1.0-he30d5cf_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libbrotlidec-1.1.0-he30d5cf_4.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libbrotlienc-1.1.0-he30d5cf_4.conda
@@ -766,6 +767,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/mpfr-4.2.2-h3faef18_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/mpg123-1.32.9-h65af167_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/muparser-2.3.5-h5ad3122_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/nanoflann-1.6.1-h17cf362_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/ncurses-6.6-hf8d1292_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/ninja-1.13.2-hdc560ac_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/nitro-2.7.dev8-h2f0025b_0.conda
@@ -1044,8 +1046,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cctools_impl_osx-arm64-1030.6.3-llvm19_1_hc7668c6_5.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cctools_osx-arm64-1030.6.3-llvm19_1_hd01ab73_5.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ceres-solver-2.2.0-cpugplhc6e4162_210.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cgal-5.6.1-py312hce81f85_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cgal-cpp-5.6.1-h5f86f28_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cgal-6.0.1-py312h0fb87b3_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/cgal-cpp-6.0.1-hbc35424_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/charls-2.4.4-hf6b4638_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/clang-19-19.1.7-default_hf3020a7_9.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/clang-19.1.7-default_hf9bcbb7_9.conda
@@ -1118,9 +1120,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libass-0.17.4-hcbd7ca7_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libavif16-1.3.0-hb06b76e_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libblas-3.11.0-8_h51639a9_openblas.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-1.86.0-hf493ff8_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-devel-1.86.0-hf450f58_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-headers-1.86.0-hce30654_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-1.88.0-h18cd856_6.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-devel-1.88.0-hf450f58_6.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-headers-1.88.0-hce30654_6.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libbrotlicommon-1.1.0-h6caf38d_4.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libbrotlidec-1.1.0-h6caf38d_4.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/libbrotlienc-1.1.0-h6caf38d_4.conda
@@ -1253,6 +1255,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/mpc-1.4.0-h169892a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/mpfr-4.2.2-h6bc93b0_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/muparser-2.3.5-h11e0b38_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-arm64/nanoflann-1.6.1-hd04e3b9_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ncurses-6.6-h1d4f5a5_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/ninja-1.13.2-h49c215f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-arm64/nitro-2.7.dev8-h13dd4ca_0.conda
@@ -1435,8 +1438,8 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/win-64/cairo-1.18.4-h5782bbf_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/capnproto-1.2.0-h3a793f1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/ceres-solver-2.2.0-cpugplhf344f7c_210.conda
-      - conda: https://conda.anaconda.org/conda-forge/win-64/cgal-5.6.1-py312h0d2d5cd_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/win-64/cgal-cpp-5.6.1-h31bd75c_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/cgal-6.0.1-py312h96e49e0_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/cgal-cpp-6.0.1-hc4f255e_1.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/charls-2.4.4-h7cafa3a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/cmake-3.31.8-hdcbee5b_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/contourpy-1.3.3-py312h78d62e6_4.conda
@@ -1494,9 +1497,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/win-64/libasprintf-0.22.5-h5728263_3.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/libavif16-1.3.0-he916da2_2.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/libblas-3.11.0-6_hf2e6a31_mkl.conda
-      - conda: https://conda.anaconda.org/conda-forge/win-64/libboost-1.86.0-h9dfe17d_5.conda
-      - conda: https://conda.anaconda.org/conda-forge/win-64/libboost-devel-1.86.0-h1c1089f_5.conda
-      - conda: https://conda.anaconda.org/conda-forge/win-64/libboost-headers-1.86.0-h57928b3_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libboost-1.88.0-h9dfe17d_7.conda
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-  - libcxx >=17
+  - libboost >=1.88.0,<1.89.0a0
+  - libcxx >=19
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-  - numpy >=1.19,<3
+  - numpy >=1.23,<3
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   - python >=3.12,<3.13.0a0 *_cpython
   - python_abi 3.12.* *_cp312
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+  - libboost >=1.88.0,<1.89.0a0
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-  - libcxx >=16
+  - libcxx >=19
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-  - libboost-headers 1.86.0 hce30654_4
+  - libboost 1.88.0 h18cd856_6
+  - libboost-headers 1.88.0 hce30654_6
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+    - libboost >=1.88.0,<1.89.0a0
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+  timestamp: 1763019732573
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/libboost-headers-1.88.0-hce30654_6.conda
+  sha256: dbf2e98c2f9987e9456afc5321911258cff22fc632e35286704fd15247090f02
+  md5: 2c6c26ccc8395de079dd8ad4ce4dd682
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   license: BSL-1.0
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+  size: 14688515
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@@ -23088,6 +23116,14 @@ packages:
     - muparser >=2.3.5,<2.4.0a0
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   timestamp: 1747117056226
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/nanoflann-1.6.1-hd04e3b9_0.conda
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+  md5: e951f716fef5b6f2c12e907a69c9f7bd
+  license: BSD
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@@ -24887,42 +24923,42 @@ packages:
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-- conda: https://conda.anaconda.org/conda-forge/win-64/cgal-5.6.1-py312h0d2d5cd_4.conda
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+  - cgal-cpp 6.0.1.*
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-  - libboost >=1.86.0,<1.87.0a0
+  - libboost >=1.88.0,<1.89.0a0
   - mpfr >=4.2.1,<5.0a0
-  - numpy >=1.19,<3
+  - numpy >=1.23,<3
   - python >=3.12,<3.13.0a0
   - python_abi 3.12.* *_cp312
   - ucrt >=10.0.20348.0
-  - vc >=14.2,<15
-  - vc14_runtime >=14.29.30139
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
   license: GPL-3.0-or-later
   license_family: GPL
   purls: []
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-  size: 4725770
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-- conda: https://conda.anaconda.org/conda-forge/win-64/cgal-cpp-5.6.1-h31bd75c_2.conda
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+- conda: https://conda.anaconda.org/conda-forge/win-64/cgal-cpp-6.0.1-hc4f255e_1.conda
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+  md5: 1d24d2a3da87350a846ab3bdbd4b9396
   depends:
   - eigen
-  - libboost >=1.86.0,<1.87.0a0
+  - libboost >=1.88.0,<1.89.0a0
   - libboost-devel
   - mpfr >=4.2.1,<5.0a0
   - ucrt >=10.0.20348.0
-  - vc >=14.2,<15
-  - vc14_runtime >=14.29.30139
+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
   license: GPL3/LGPL3
   purls: []
   run_exports: {}
-  size: 5802544
-  timestamp: 1724406386285
+  size: 5890254
+  timestamp: 1753275328387
 - conda: https://conda.anaconda.org/conda-forge/win-64/charls-2.4.4-h7cafa3a_0.conda
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   md5: 45c00fb3c1b591383953c0385f1afafd
@@ -26200,9 +26236,9 @@ packages:
     - libblas >=3.11.0,<4.0a0
   size: 68082
   timestamp: 1774503684284
-- conda: https://conda.anaconda.org/conda-forge/win-64/libboost-1.86.0-h9dfe17d_5.conda
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-  md5: 2ccf85deef654aba17b733e6ed340b93
+- conda: https://conda.anaconda.org/conda-forge/win-64/libboost-1.88.0-h9dfe17d_7.conda
+  sha256: fad63bb3b722d4fc50c8258fc30402970ad36baf73edd87c1b647bdd6aed3f04
+  md5: e13bc25d81b0132a0c51eb5cc179b0e9
   depends:
   - bzip2 >=1.0.8,<2.0a0
   - libiconv >=1.18,<2.0a0
@@ -26214,36 +26250,37 @@ packages:
   - zstd >=1.5.7,<1.6.0a0
   constrains:
   - boost-cpp <0.0a0
+  - __win ==0|>=10
   license: BSL-1.0
   purls: []
   run_exports: {}
-  size: 2399304
-  timestamp: 1766349425761
-- conda: https://conda.anaconda.org/conda-forge/win-64/libboost-devel-1.86.0-h1c1089f_5.conda
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-  md5: 12f7966be6135f476cc1064f9ea2e21d
+  size: 2404502
+  timestamp: 1766348533008
+- conda: https://conda.anaconda.org/conda-forge/win-64/libboost-devel-1.88.0-h1c1089f_7.conda
+  sha256: b68a3d2d10f1837f8c4c1029a70e4beeab8740e9f22de081caac8efcd7b0b8d3
+  md5: 1706ad0abc99f425edac178d4bd91f8d
   depends:
-  - libboost 1.86.0 h9dfe17d_5
-  - libboost-headers 1.86.0 h57928b3_5
+  - libboost 1.88.0 h9dfe17d_7
+  - libboost-headers 1.88.0 h57928b3_7
   constrains:
   - boost-cpp <0.0a0
   license: BSL-1.0
   purls: []
   run_exports:
     weak:
-    - libboost >=1.86.0,<1.87.0a0
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-- conda: https://conda.anaconda.org/conda-forge/win-64/libboost-headers-1.86.0-h57928b3_5.conda
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-  md5: 8b85fc5582003d0214e068c6103cbbaa
+    - libboost >=1.88.0,<1.89.0a0
+  size: 42557
+  timestamp: 1766348731376
+- conda: https://conda.anaconda.org/conda-forge/win-64/libboost-headers-1.88.0-h57928b3_7.conda
+  sha256: 64109e62262e5b4a2125a2a44edc087d0443b2dbd2dd1cabf7442b3e32a1be35
+  md5: e7fb10a0c6fa8639eaa61ee453dfe90f
   constrains:
   - boost-cpp <0.0a0
   license: BSL-1.0
   purls: []
   run_exports: {}
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-  timestamp: 1766349485667
+  size: 14701109
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 - conda: https://conda.anaconda.org/conda-forge/win-64/libbrotlicommon-1.1.0-hfd05255_4.conda
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   md5: 58aec7a295039d8614175eae3a4f8778
@@ -28490,6 +28527,14 @@ packages:
     - muparser >=2.3.5,<2.4.0a0
   size: 148557
   timestamp: 1747117340968
+- conda: https://conda.anaconda.org/conda-forge/win-64/nanoflann-1.6.1-hc790b64_0.conda
+  sha256: dd027ddfd13732b0463b43f197167d5174c486397f8be89efc5fdaca6252ad90
+  md5: a2717e5d411b4a87fd3510c4bc50c898
+  license: BSD
+  purls: []
+  run_exports: {}
+  size: 26303
+  timestamp: 1728332702722
 - conda: https://conda.anaconda.org/conda-forge/win-64/ninja-1.13.2-h477610d_0.conda
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   md5: 7ecb9f2f112c66f959d2bb7dbdb89b67
@@ -30371,20 +30416,20 @@ packages:
   - pytest-cov>=2.2.0 ; extra == 'test'
   - pytest>=2.8.2 ; extra == 'test'
   - shapely ; extra == 'test'
-  - 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'
+  - sphinx-click ; extra == 'all'
+  - boto3>=1.2.4 ; extra == 'all'
   - pytest>=2.8.2 ; extra == 'all'
+  - packaging ; extra == 'all'
+  - ipython>=2.0 ; extra == 'all'
   - pytest-cov>=2.2.0 ; extra == 'all'
   - sphinx-rtd-theme ; extra == 'all'
+  - hypothesis ; extra == 'all'
   - sphinx ; extra == 'all'
-  - ipython>=2.0 ; extra == 'all'
+  - shapely ; extra == 'all'
+  - ghp-import ; extra == 'all'
+  - numpydoc ; extra == 'all'
+  - matplotlib ; 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
diff --git a/pixi.toml b/pixi.toml
index a828c0459..756483b8a 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -16,7 +16,8 @@ platforms = ["linux-64-cuda-12-0", "win-64-cuda-12-0"]
 [dependencies]
 beautifulsoup4 = "==4.13.4"
 ceres-solver = "==2.2.0"
-cgal = "5.6.*"           # OpenMVS
+cgal = "6.*"             # OpenMVS v2.4.0 (AABB_traits_3.h, renamed in CGAL 6)
+nanoflann = "*"          # OpenMVS v2.4.0 (libs/Common, REQUIRED)
 cloudpickle = "*"        # OpenSfM (parallel serialization)
 exifread = "==3.5.1"
 exiftool = "*"
diff --git a/stages/openmvs.py b/stages/openmvs.py
index 55e13a1c8..0fe25f2be 100644
--- a/stages/openmvs.py
+++ b/stages/openmvs.py
@@ -60,6 +60,7 @@ def process(self, args, outputs):
             
             log.ODM_INFO("Estimating depthmaps")
             number_views_fuse = 2
+            fusion_filter = {'merge': 0, 'fuse': 1, 'dense-fuse': 2}[args.pc_fusion_filter]
             densify_ini_file = os.path.join(tree.openmvs, 'Densify.ini')
             subres_levels = 2 # The number of lower resolutions to process before estimating output resolution depthmap.
             filter_point_th = -20
@@ -72,7 +73,13 @@ def process(self, args, outputs):
                 "--min-resolution %s" % min_resolution,
                 "--max-threads %s" % args.max_concurrency,
                 "--number-views-fuse %s" % number_views_fuse,
+                "--fusion-filter %s" % fusion_filter,
+                "--fusion-depth-diff-threshold %s" % args.pc_fusion_depth_diff,
+                "--fusion-reprojection-threshold %s" % args.pc_fusion_reprojection,
                 "--sub-resolution-levels %s" % subres_levels,
+                "--postprocess-dmaps 7", # 2.4.0 default changed to 0
+                "--tower-mode 3",
+                "--up-axis 2",
                 "--archive-type 3",
                 '-w "%s"' % depthmaps_dir, 
                 "-v 0"
@@ -90,6 +97,9 @@ def process(self, args, outputs):
             if args.pc_skip_geometric:
                 extra_config.append("--geometric-iters 0")
 
+            if not args.pc_crop_to_roi:
+                extra_config.append("--crop-to-roi 0")
+
             masks_dir = os.path.join(tree.opensfm, "undistorted", "masks")
             masks = os.path.exists(masks_dir) and len(os.listdir(masks_dir)) > 0
             if masks:
@@ -166,6 +176,9 @@ def run_densify():
                             "--sub-resolution-levels %s" % subres_levels,
                             '--dense-config-file "%s"' % subscene_densify_ini_file,
                             '--number-views-fuse %s' % number_views_fuse,
+                            '--fusion-filter %s' % fusion_filter,
+                            '--fusion-depth-diff-threshold %s' % args.pc_fusion_depth_diff,
+                            '--fusion-reprojection-threshold %s' % args.pc_fusion_reprojection,
                             '--max-threads %s' % args.max_concurrency,
                             '--archive-type 3',
                             '--postprocess-dmaps 0',