diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index a8246f9..5800015 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -107,6 +107,7 @@ jobs:
             libmetis-dev \
             libgoogle-glog-dev \
             libgtest-dev \
+            libgmock-dev \
             libsqlite3-dev \
             libglew-dev \
             qtbase5-dev \
diff --git a/cmake/FindDependencies.cmake b/cmake/FindDependencies.cmake
index 7bcf202..5a89c7c 100644
--- a/cmake/FindDependencies.cmake
+++ b/cmake/FindDependencies.cmake
@@ -24,6 +24,7 @@ FetchContent_Declare(PoseLib
     GIT_REPOSITORY    https://github.com/PoseLib/PoseLib.git
     GIT_TAG           0439b2d361125915b8821043fca9376e6cc575b9
     EXCLUDE_FROM_ALL
+    SYSTEM
 )
 message(STATUS "Configuring PoseLib...")
 if (FETCH_POSELIB) 
@@ -35,7 +36,7 @@ message(STATUS "Configuring PoseLib... done")
 
 FetchContent_Declare(COLMAP
     GIT_REPOSITORY    https://github.com/colmap/colmap.git
-    GIT_TAG           66fd8e56a0d160d68af2f29e9ac6941d442d2322
+    GIT_TAG           3254263266949413d7c669e44abeb4a7c2670a8b
     EXCLUDE_FROM_ALL
 )
 message(STATUS "Configuring COLMAP...")
diff --git a/glomap/controllers/global_mapper.cc b/glomap/controllers/global_mapper.cc
index 22f14c8..c359419 100644
--- a/glomap/controllers/global_mapper.cc
+++ b/glomap/controllers/global_mapper.cc
@@ -7,6 +7,7 @@
 #include "glomap/processors/track_filter.h"
 #include "glomap/processors/view_graph_manipulation.h"
 
+#include <colmap/util/file.h>
 #include <colmap/util/timer.h>
 
 namespace glomap {
@@ -325,4 +326,4 @@ bool GlobalMapper::Solve(const colmap::Database& database,
   return true;
 }
 
-}  // namespace glomap
\ No newline at end of file
+}  // namespace glomap
diff --git a/glomap/controllers/track_retriangulation.cc b/glomap/controllers/track_retriangulation.cc
index 18559c2..678f99a 100644
--- a/glomap/controllers/track_retriangulation.cc
+++ b/glomap/controllers/track_retriangulation.cc
@@ -2,10 +2,12 @@
 
 #include "glomap/io/colmap_converter.h"
 
-#include <colmap/controllers/incremental_mapper.h>
+#include <colmap/controllers/incremental_pipeline.h>
 #include <colmap/estimators/bundle_adjustment.h>
 #include <colmap/scene/database_cache.h>
 
+#include <set>
+
 namespace glomap {
 
 bool RetriangulateTracks(const TriangulatorOptions& options,
@@ -40,7 +42,7 @@ bool RetriangulateTracks(const TriangulatorOptions& options,
                         std::unordered_map<track_t, Track>(),
                         *reconstruction_ptr);
 
-  colmap::IncrementalMapperOptions options_colmap;
+  colmap::IncrementalPipelineOptions options_colmap;
   options_colmap.triangulation.complete_max_reproj_error =
       options.tri_complete_max_reproj_error;
   options_colmap.triangulation.merge_max_reproj_error =
@@ -57,13 +59,13 @@ bool RetriangulateTracks(const TriangulatorOptions& options,
   const auto tri_options = options_colmap.Triangulation();
   const auto mapper_options = options_colmap.Mapper();
 
-  const std::vector<image_t>& reg_image_ids = reconstruction_ptr->RegImageIds();
+  const std::set<image_t>& reg_image_ids = reconstruction_ptr->RegImageIds();
 
-  for (size_t i = 0; i < reg_image_ids.size(); ++i) {
-    std::cout << "\r Triangulating image " << i + 1 << " / "
+  size_t image_idx = 0;
+  for (const image_t image_id : reg_image_ids) {
+    std::cout << "\r Triangulating image " << image_idx++ + 1 << " / "
               << reg_image_ids.size() << std::flush;
 
-    const image_t image_id = reg_image_ids[i];
     const auto& image = reconstruction_ptr->Image(image_id);
 
     int num_tris = mapper.TriangulateImage(tri_options, image_id);
@@ -128,4 +130,4 @@ bool RetriangulateTracks(const TriangulatorOptions& options,
   return true;
 }
 
-}  // namespace glomap
\ No newline at end of file
+}  // namespace glomap
diff --git a/glomap/estimators/bundle_adjustment.cc b/glomap/estimators/bundle_adjustment.cc
index 32204ba..f9aa51c 100644
--- a/glomap/estimators/bundle_adjustment.cc
+++ b/glomap/estimators/bundle_adjustment.cc
@@ -70,7 +70,7 @@ void BundleAdjuster::AddPointToCameraConstraints(
       Image& image = images[observation.first];
 
       ceres::CostFunction* cost_function =
-          colmap::CameraCostFunction<colmap::ReprojErrorCostFunction>(
+          colmap::CreateCameraCostFunction<colmap::ReprojErrorCostFunctor>(
               cameras[image.camera_id].model_id,
               image.features[observation.second]);
 
diff --git a/glomap/exe/global_mapper.cc b/glomap/exe/global_mapper.cc
index 7e4deac..fb1e512 100644
--- a/glomap/exe/global_mapper.cc
+++ b/glomap/exe/global_mapper.cc
@@ -4,6 +4,7 @@
 #include "glomap/io/colmap_io.h"
 #include "glomap/types.h"
 
+#include <colmap/util/file.h>
 #include <colmap/util/misc.h>
 #include <colmap/util/timer.h>
 
@@ -151,4 +152,4 @@ int RunMapperResume(int argc, char** argv) {
   return EXIT_SUCCESS;
 }
 
-}  // namespace glomap
\ No newline at end of file
+}  // namespace glomap
diff --git a/glomap/io/colmap_converter.cc b/glomap/io/colmap_converter.cc
index eceaead..75ab3ba 100644
--- a/glomap/io/colmap_converter.cc
+++ b/glomap/io/colmap_converter.cc
@@ -9,9 +9,10 @@ void ConvertGlomapToColmapImage(const Image& image,
                                 bool keep_points) {
   image_colmap.SetImageId(image.image_id);
   image_colmap.SetCameraId(image.camera_id);
-  image_colmap.SetRegistered(image.is_registered);
   image_colmap.SetName(image.file_name);
-  image_colmap.CamFromWorld() = image.cam_from_world;
+  if (image.is_registered) {
+    image_colmap.SetCamFromWorld(image.cam_from_world);
+  }
 
   if (keep_points) {
     image_colmap.SetPoints2D(image.features);
@@ -130,8 +131,10 @@ void ConvertColmapToGlomap(const colmap::Reconstruction& reconstruction,
                                                   image_colmap.Name())));
 
     Image& image = ite.first->second;
-    image.is_registered = image_colmap.IsRegistered();
-    image.cam_from_world = static_cast<Rigid3d>(image_colmap.CamFromWorld());
+    image.is_registered = image_colmap.HasPose();
+    if (image_colmap.HasPose()) {
+      image.cam_from_world = static_cast<Rigid3d>(image_colmap.CamFromWorld());
+    }
     image.features.clear();
     image.features.reserve(image_colmap.NumPoints2D());
 
diff --git a/glomap/io/colmap_io.cc b/glomap/io/colmap_io.cc
index 88dc4cc..5189e6d 100644
--- a/glomap/io/colmap_io.cc
+++ b/glomap/io/colmap_io.cc
@@ -1,5 +1,6 @@
 #include "glomap/io/colmap_io.h"
 
+#include <colmap/util/file.h>
 #include <colmap/util/misc.h>
 
 namespace glomap {