diff --git a/CMakeLists.txt b/CMakeLists.txt
index 313a704c8..1e39e8dbf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(aliceVision LANGUAGES C CXX)
+project(aliceVision LANGUAGES C CXX CUDA)
 
 option(ALICEVISION_BUILD_DEPENDENCIES "Build all AliceVision dependencies" OFF)
 option(AV_BUILD_ALICEVISION "Enable building of AliceVision" ON)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index dfa00ff0b..0c1a917d9 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -123,7 +123,7 @@ if (ALICEVISION_USE_RPATH)
         set(CMAKE_MACOSX_RPATH 1)
         set(CMAKE_INSTALL_RPATH "@loader_path/../${CMAKE_INSTALL_LIBDIR};@loader_path")
     elseif (UNIX)
-        set(CMAKE_INSTALL_RPATH "\\$ORIGIN/../${CMAKE_INSTALL_LIBDIR};\\$ORIGIN")
+        set(CMAKE_INSTALL_RPATH "\\$ORIGIN/../${CMAKE_INSTALL_LIBDIR};\\$ORIGIN;/opt/alicevision/lib")
     endif()
 endif()
 
@@ -180,8 +180,8 @@ endmacro(add_target_properties)
 # ==============================================================================
 set(CMAKE_MODULE_PATH
     ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
-include(OptimizeForArchitecture)
-OptimizeForArchitecture()
+#include(OptimizeForArchitecture)
+#OptimizeForArchitecture() #we don't want this as it causes a segfault and anyway we want to refer to makepkg config
 set(ALICEVISION_HAVE_SSE 0)
 if (SSE2_FOUND OR TARGET_ARCHITECTURE STREQUAL "native")
     if (MSVC AND NOT ${CMAKE_CL_64})
@@ -373,7 +373,7 @@ endif()
 # ==============================================================================
 # Eigen
 # ==============================================================================
-find_package(Eigen3 3.3 REQUIRED)
+find_package(Eigen3 REQUIRED)
 if (Eigen3_FOUND OR EIGEN3_FOUND)
     # message(STATUS "EIGEN_INCLUDE_DIR: ${EIGEN_INCLUDE_DIR}")
     if (AV_EIGEN_MEMORY_ALIGNMENT)
@@ -448,7 +448,9 @@ endif()
 # Flann
 # ==============================================================================
 if (ALICEVISION_BUILD_SFM)
-    find_package(lz4 REQUIRED)
+    find_package(PkgConfig REQUIRED)
+    pkg_check_modules(lz4 REQUIRED IMPORTED_TARGET liblz4)
+    add_library(lz4::lz4 ALIAS PkgConfig::lz4)
     find_package(flann REQUIRED)
 
     if (TARGET lz4::lz4)
@@ -583,6 +585,8 @@ set(ALICEVISION_HAVE_USD 0)
 
 if (NOT ALICEVISION_USE_USD STREQUAL "OFF")
     find_package(pxr CONFIG)
+    find_package(X11 REQUIRED)
+    find_package(hdf5 REQUIRED)
 
     if (pxr_FOUND)
         set(ALICEVISION_HAVE_USD 1)
@@ -705,7 +709,9 @@ if (ALICEVISION_HAVE_CUDA)
 
     set(CUDA_NVCC_FLAGS_DEBUG   "${CUDA_NVCC_FLAGS_DEBUG};-G;-g")
     # set(CUDA_NVCC_FLAGS_RELEASE "${CUDA_NVCC_FLAGS_RELEASE};-O3")
-    if (CUDA_VERSION_MAJOR VERSION_GREATER_EQUAL 12)
+	if (CUDA_VERSION_MAJOR VERSION_GREATER_EQUAL 13)
+		set(ALICEVISION_CUDA_CC_LIST_BASIC 75 80 86 87 89 90)
+    elseif (CUDA_VERSION_MAJOR VERSION_GREATER_EQUAL 12)
         set(ALICEVISION_CUDA_CC_LIST_BASIC 50 52 60 61 62 70 72 75 80 86 87 89 90)
     elseif (CUDA_VERSION VERSION_GREATER_EQUAL 11.8)
         set(ALICEVISION_CUDA_CC_LIST_BASIC 35 50 52 60 61 62 70 72 75 80 86 87 89 90)
@@ -733,7 +739,7 @@ if (ALICEVISION_HAVE_CUDA)
     list(GET ALICEVISION_CUDA_CC_LIST ${ALICEVISION_CC_LIST_LEN} ALICEVISION_CUDA_CC_LIST_LAST)
     set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS};-gencode;arch=compute_${ALICEVISION_CUDA_CC_LIST_LAST},code=compute_${ALICEVISION_CUDA_CC_LIST_LAST}")
 
-    set(CUDA_NVCC_FLAGS         "${CUDA_NVCC_FLAGS};-std=c++20")
+    set(CUDA_NVCC_FLAGS         "${CUDA_NVCC_FLAGS};-std=c++20;-ccbin=SEDNVCC_CCBINHERE;-Xcompiler=-fno-lto")
 
     # default stream legacy implies that the 0 stream synchronizes all streams
     set(CUDA_NVCC_FLAGS         "${CUDA_NVCC_FLAGS};--default-stream;legacy")
@@ -876,6 +882,7 @@ set(ALICEVISION_INCLUDE_DIRS
         ${COINUTILS_INCLUDE_DIRS}
         ${CLP_INCLUDE_DIRS}
         ${OSI_INCLUDE_DIRS}
+        ${Python3_INCLUDE_DIRS}
 )
 
 include_directories(${ALICEVISION_INCLUDE_DIRS})
@@ -912,7 +919,7 @@ else()
             set(SPHINX_HTML_DIR "${CMAKE_CURRENT_BINARY_DIR}/htmlDoc")
 
             configure_file(
-                "${CMAKE_CURRENT_SOURCE_DIR}/../docs/sphinx/rst/conf.py"
+                "${CMAKE_CURRENT_SOURCE_DIR}/../docs/sphinx/conf.py"
                 "${CMAKE_CURRENT_BINARY_DIR}/conf.py"
                 @ONLY
             )
@@ -920,7 +927,7 @@ else()
             add_custom_target(doc ALL
                 ${SPHINX_EXECUTABLE}
                 -b html
-                "${CMAKE_CURRENT_SOURCE_DIR}/../docs/sphinx/rst"
+                "${CMAKE_CURRENT_SOURCE_DIR}/../docs/sphinx/"
                 "${SPHINX_HTML_DIR}"
                 COMMENT "Building HTML documentation with Sphinx"
             )
diff --git a/src/aliceVision/gpu/gpu.cpp b/src/aliceVision/gpu/gpu.cpp
index afb6e8756..ff8d5636c 100644
--- a/src/aliceVision/gpu/gpu.cpp
+++ b/src/aliceVision/gpu/gpu.cpp
@@ -113,7 +113,7 @@ std::string gpuInformationCUDA()
                      << "\t- id:                      " << i << std::endl
                      << "\t- name:                    " << deviceProperties.name << std::endl
                      << "\t- compute capability:      " << deviceProperties.major << "." << deviceProperties.minor << std::endl
-                     << "\t- clock frequency (kHz):   " << deviceProperties.clockRate << std::endl
+                     //<< "\t- clock frequency (kHz):   " << deviceProperties.clockRate << std::endl
                      << "\t- total device memory:     " << deviceProperties.totalGlobalMem / (1024 * 1024) << " MB " << std::endl
                      << "\t- device memory available: " << avail / (1024 * 1024) << " MB " << std::endl
                      << "\t- per-block shared memory: " << deviceProperties.sharedMemPerBlock << std::endl
diff --git a/src/aliceVision/image/CMakeLists.txt b/src/aliceVision/image/CMakeLists.txt
index cd4b4bc87..f432fc281 100644
--- a/src/aliceVision/image/CMakeLists.txt
+++ b/src/aliceVision/image/CMakeLists.txt
@@ -68,9 +68,10 @@ if (ALICEVISION_BUILD_SWIG_BINDING)
             aliceVision_image
             ${Python3_LIBRARIES}
         PRIVATE_INCLUDE_DIRS
+            ${ALICEVISION_ROOT}/external/tmpinstall/include
             ../include
             ${ALICEVISION_ROOT}/include
             ${Python3_INCLUDE_DIRS}
             ${Python3_NumPy_INCLUDE_DIRS}
     )
-endif()
\ No newline at end of file
+endif()
diff --git a/src/cmake/AliceVisionConfig.cmake.in b/src/cmake/AliceVisionConfig.cmake.in
index 8dc4a0d12..6315227b4 100644
--- a/src/cmake/AliceVisionConfig.cmake.in
+++ b/src/cmake/AliceVisionConfig.cmake.in
@@ -48,7 +48,7 @@ include(CMakeFindDependencyMacro)
 set(Ceres_DIR @Ceres_DIR@)
 find_dependency(Ceres)
 
-find_dependency(OpenImageIO 2.1)
+find_dependency(OpenImageIO 2.1 PATHS /opt/alicevision)
 
 # whether it is built with CCTags
 set(ALICEVISION_HAVE_CCTAG @ALICEVISION_HAVE_CCTAG@)
diff --git a/src/cmake/Dependencies.cmake b/src/cmake/Dependencies.cmake
index c14b5c430..27bca5482 100644
--- a/src/cmake/Dependencies.cmake
+++ b/src/cmake/Dependencies.cmake
@@ -514,21 +514,20 @@ if(AV_BUILD_PNG)
 
     ExternalProject_Add(
         ${PNG_TARGET}
-        URL https://download.sourceforge.net/libpng/libpng-1.6.39.tar.gz
-        URL_HASH MD5=93b8e79a008747e70f7704f600349559
-        DOWNLOAD_DIR ${BUILD_DIR}/download/libpng
         PREFIX ${BUILD_DIR}
         BUILD_IN_SOURCE 0
         BUILD_ALWAYS 0
         UPDATE_COMMAND ""
-        SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/png
+        SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../libpng-1.6.39
         BINARY_DIR ${BUILD_DIR}/png_build
-        INSTALL_DIR ${CMAKE_INSTALL_PREFIX}
+        INSTALL_DIR ${BUILD_DIR}/tmpinstall
 
         CONFIGURE_COMMAND ${CMAKE_COMMAND} ${CMAKE_CORE_BUILD_FLAGS}
             ${ZLIB_CMAKE_FLAGS}
             -DPNG_ARM_NEON=${AV_PNG_ARM_NEON}
             -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
+            -DCMAKE_INSTALL_RPATH=/opt/alicevision/lib
+            -DCMAKE_POLICY_VERSION_MINIMUM=3.5
             <SOURCE_DIR>
         BUILD_COMMAND $(MAKE) -j${AV_BUILD_DEPENDENCIES_PARALLEL}
         DEPENDS ${ZLIB_TARGET}
@@ -1136,36 +1135,32 @@ if(AV_BUILD_OPENIMAGEIO)
     set(OPENIMAGEIO_TARGET openimageio)
 
     ExternalProject_Add(${OPENIMAGEIO_TARGET}
-        URL https://github.com/AcademySoftwareFoundation/OpenImageIO/archive/refs/tags/v2.5.18.0.tar.gz
-        URL_HASH MD5=3975e5dc0970ad859244a58dc2b8e147
-        DOWNLOAD_DIR ${BUILD_DIR}/download/oiio
         PREFIX ${BUILD_DIR}
         BUILD_IN_SOURCE 0
         BUILD_ALWAYS 0
         UPDATE_COMMAND ""
-        SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/openimageio
+        SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../OpenImageIO-2.5.18.0
         BINARY_DIR ${BUILD_DIR}/openimageio_build
-        INSTALL_DIR ${CMAKE_INSTALL_PREFIX}
+        INSTALL_DIR ${BUILD_DIR}/tmpinstall
         CONFIGURE_COMMAND
             ${CMAKE_COMMAND}
             ${CMAKE_CORE_BUILD_FLAGS}
             -DCMAKE_PREFIX_PATH=${CMAKE_INSTALL_PREFIX}
             -DBOOST_ROOT=${CMAKE_INSTALL_PREFIX}
+            -DPNG_ROOT=${BUILD_DIR}/tmpinstall
             -DOIIO_BUILD_TESTS:BOOL=OFF
             -DOIIO_BUILD_TOOLS:BOOL=OFF
-            -DILMBASE_HOME=${CMAKE_INSTALL_PREFIX}
-            -DOPENEXR_HOME=${CMAKE_INSTALL_PREFIX}
             ${TIFF_CMAKE_FLAGS} ${ZLIB_CMAKE_FLAGS} ${PNG_CMAKE_FLAGS} ${JPEG_CMAKE_FLAGS} ${LIBRAW_CMAKE_FLAGS} ${OPENEXR_CMAKE_FLAGS}
             -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> <SOURCE_DIR>
             -DSTOP_ON_WARNING=OFF
-            -DUSE_FFMPEG=${AV_BUILD_FFMPEG}
-            -DUSE_TURBOJPEG=${AV_BUILD_JPEG}
-            -DUSE_LIBRAW=${AV_BUILD_LIBRAW}
-            -DUSE_OPENEXR=${AV_BUILD_OPENEXR}
-            -DUSE_TIFF=${AV_BUILD_TIFF}
-            -DUSE_PNG=${AV_BUILD_PNG}
+            -DUSE_FFMPEG=ON
+            -DUSE_TURBOJPEG=ON
+            -DUSE_LIBRAW=ON
+            -DUSE_OPENEXR=ON
+            -DUSE_TIFF=ON
+            -DUSE_PNG=ON
             -DPython_EXECUTABLE=${Python_EXECUTABLE}
-            -DUSE_PYTHON=ON -DUSE_OPENCV=OFF -DUSE_OPENGL=OFF -DUSE_NUKE=OFF -DUSE_PTEX=OFF -DBUILD_DOCS=OFF -DBUILD_TESTING=OFF
+            -DUSE_PYTHON=ON -DUSE_OPENCV=ON -DUSE_OPENGL=ON -DUSE_NUKE=OFF -DUSE_PTEX=ON -DBUILD_DOCS=OFF -DBUILD_TESTING=OFF
             # TODO: build with libheif
         BUILD_COMMAND $(MAKE) -j${AV_BUILD_DEPENDENCIES_PARALLEL}
         DEPENDS ${BOOST_TARGET} ${OPENEXR_TARGET} ${TIFF_TARGET} ${PNG_TARGET} ${JPEG_TARGET} ${LIBRAW_TARGET} ${ZLIB_TARGET} ${FFMPEG_TARGET} ${PYBIND11_TARGET}
@@ -1434,18 +1429,30 @@ if(AV_BUILD_ALICEVISION)
         BINARY_DIR ${BUILD_DIR}/aliceVision_build
         INSTALL_DIR ${CMAKE_INSTALL_PREFIX}
         CONFIGURE_COMMAND ${CMAKE_COMMAND}
-        -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DBUILD_SHARED_LIBS:BOOL=ON -DTARGET_ARCHITECTURE=core
         -DALICEVISION_ROOT=${ALICEVISION_ROOT}
+        -DCMAKE_FIND_PACKAGE_PREFER_CONFIG=TRUE
+        -DCMAKE_INSTALL_PREFIX=/usr
+        -DOpenImageIO_ROOT=${ALICEVISION_ROOT}/external/tmpinstall
+        -DCOINUTILS_INCLUDE_DIR_HINTS=/usr/include/coin
+        -DCLP_INCLUDE_DIR_HINTS=/usr/include/coin
+        -DOSI_INCLUDE_DIR_HINTS=/usr/include/coin
+        -DPopSift_DIR=/usr
+        -DCCTag_DIR=/usr/lib/cmake/CCTag
+        -DUNCERTAINTYTE_DIR=/usr
+        -DMAGMA_ROOT=/opt/cuda/targets/x86_64-linux
         -DALICEVISION_USE_ALEMBIC=ON
-        -DMINIGLOG=ON
-        -DALICEVISION_USE_CCTAG=${AV_BUILD_CCTAG}
-        -DALICEVISION_USE_APRILTAG=${AV_BUILD_APRILTAG}
-        -DALICEVISION_USE_OPENCV=${AV_BUILD_OPENCV}
-        -DALICEVISION_USE_OPENGV=${AV_BUILD_OPENGV}
-        -DALICEVISION_USE_POPSIFT=${AV_BUILD_POPSIFT}
-        -DALICEVISION_USE_CUDA=${AV_USE_CUDA}
-        -DALICEVISION_BUILD_SWIG_BINDING=${AV_USE_SWIG}
         -DALICEVISION_BUILD_DOC=OFF
+        -DALICEVISION_USE_CUDA=ON
+        -DALICEVISION_USE_CCTAG=ON
+        -DALICEVISION_USE_POPSIFT=ON
+        -DALICEVISION_USE_UNCERTAINTYTE=OFF
+        -DALICEVISION_USE_ALEMBIC=ON
+        -DALICEVISION_USE_OPENGV=ON
+        -DALICEVISION_USE_OPENCV=ON
+        -DALICEVISION_USE_ONNX=ON
+        -DALICEVISION_USE_USD=ON
+        -DALICEVISION_BUILD_SWIG_BINDING=ON
+        -DCMAKE_CXX_STANDARD=17
 
         ${ZLIB_CMAKE_FLAGS}
         ${ASSIMP_CMAKE_FLAGS}
@@ -1476,5 +1483,6 @@ if(AV_BUILD_ALICEVISION)
 
         -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR> <SOURCE_DIR>
         DEPENDS ${AV_DEPS}
+        INSTALL_COMMAND ""
     )
 endif()
diff --git a/src/cmake/FindUncertaintyTE.cmake b/src/cmake/FindUncertaintyTE.cmake
index bcd4d6bfe..a1fa2b58f 100644
--- a/src/cmake/FindUncertaintyTE.cmake
+++ b/src/cmake/FindUncertaintyTE.cmake
@@ -52,7 +52,7 @@ ELSE(UNCERTAINTYTE_INCLUDE_DIR)
 ENDIF(UNCERTAINTYTE_INCLUDE_DIR)
 
 
-GET_FILENAME_COMPONENT(UNCERTAINTYTE_LIBRARY_DIR "${UNCERTAINTYTE_LIBRARY}" PATH)
+cmake_path(GET UNCERTAINTYTE_LIBRARY ROOT_PATH UNCERTAINTYTE_LIBRARY_DIR)
 
 if(UNCERTAINTYTE_INCLUDE_DIR)
   message(STATUS "UncertaintyTE include directory: ${UNCERTAINTYTE_INCLUDE_DIR}")
diff --git a/src/cmake/Helpers.cmake b/src/cmake/Helpers.cmake
index 5c12a46ee..061775e9d 100644
--- a/src/cmake/Helpers.cmake
+++ b/src/cmake/Helpers.cmake
@@ -293,6 +293,8 @@ function(alicevision_swig_add_library module_name)
 
     set_property(SOURCE ${SWIG_MODULE_SOURCES} PROPERTY CPLUSPLUS ON)
     set_property(SOURCE ${SWIG_MODULE_SOURCES} PROPERTY SWIG_MODULE_NAME ${module_name})
+    set_property(SOURCE ${SWIG_MODULE_SOURCES} PROPERTY INCLUDE_DIRECTORIES ${SWIG_MODULE_PRIVATE_INCLUDE_DIRS})
+    set_property(SOURCE ${SWIG_MODULE_SOURCES} PROPERTY USE_TARGET_INCLUDE_DIRECTORIES FALSE)
 
     swig_add_library(${module_name}
         TYPE MODULE
diff --git a/src/software/export/CMakeLists.txt b/src/software/export/CMakeLists.txt
index d2085da6e..9b61b17cb 100644
--- a/src/software/export/CMakeLists.txt
+++ b/src/software/export/CMakeLists.txt
@@ -194,10 +194,7 @@ if (ALICEVISION_BUILD_SFM)
                   aliceVision_cmdline
                   aliceVision_mesh
                   Boost::program_options
-                  usd
-                  usdGeom
-                  usdImaging
-                  usdShade
+                  usd_ms
         )
     endif()
 
diff --git a/src/software/utils/main_computeUncertainty.cpp b/src/software/utils/main_computeUncertainty.cpp
index 7949913fb..955d994f1 100644
--- a/src/software/utils/main_computeUncertainty.cpp
+++ b/src/software/utils/main_computeUncertainty.cpp
@@ -41,7 +41,8 @@ int aliceVision_main(int argc, char** argv)
     bool debug = false;
 
     // clang-format off
-    params.add_options()
+    po::options_description requiredParams("Required parameters");
+    requiredParams.add_options()
         ("input,i", po::value<std::string>(&sfmDataFilename)->required(),
          "SfMData file to align.")
         ("output,o", po::value<std::string>(&outSfMDataFilename)->required(),
@@ -51,13 +52,11 @@ int aliceVision_main(int argc, char** argv)
         ("algorithm,a", po::value<std::string>(&algorithm)->default_value(algorithm),
          "Algorithm.")
         ("debug,d", po::value<bool>(&debug)->default_value(debug),
-         "Enable creation of debug files in the current folder.")
-        ("verboseLevel,v", po::value<std::string>(&verboseLevel)->default_value(verboseLevel),
-         "Verbosity level (fatal,  error, warning, info, debug, trace).");
+         "Enable creation of debug files in the current folder.");
     // clang-format on
 
     CmdLine cmdline("AliceVision computeUncertainty");
-    cmdline.add(params);
+    cmdline.add(requiredParams);
     if (!cmdline.execute(argc, argv))
     {
         return EXIT_FAILURE;
@@ -71,7 +70,7 @@ int aliceVision_main(int argc, char** argv)
 
     // Load input scene
     SfMData sfmData;
-    if (!Load(sfmData, sfmDataFilename, ESfMData(ALL)))
+    if (!load(sfmData, sfmDataFilename, ESfMData(ALL)))
     {
         std::cerr << std::endl << "The input SfMData file \"" << sfmDataFilename << "\" cannot be read." << std::endl;
         return EXIT_FAILURE;
@@ -148,7 +147,7 @@ int aliceVision_main(int argc, char** argv)
     std::cout << "Save into \"" << outSfMDataFilename << "\"" << std::endl;
 
     // Export the SfMData scene in the expected format
-    if (!Save(sfmData, outSfMDataFilename, ESfMData(ALL)))
+    if (!save(sfmData, outSfMDataFilename, ESfMData(ALL)))
     {
         std::cerr << std::endl << "An error occurred while trying to save \"" << outSfMDataFilename << "\"." << std::endl;
         return EXIT_FAILURE;