diff --git a/Dockerfile b/Dockerfile
index a52a2d3..94e57bf 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -82,7 +82,7 @@ RUN python3 -m pip install --no-deps \
         rawpy==0.19.1 \
         scipy==1.11.4 \
         numpy==1.26.4 \
-        pillow==10.3.0 
+        pillow==10.3.0
 
 RUN cd lamar && python3 -m pip install -e .[scantools] --no-deps
 WORKDIR /lamar
@@ -123,7 +123,7 @@ RUN apt-get install -y --no-install-recommends --no-install-suggests wget && \
 RUN cp -r /ceres_installed/* /usr/local/
 
 # Build pyceres.
-RUN git clone --depth 1 --recursive https://github.com/cvg/pyceres
+RUN git clone --depth 1 -b v1.0 --recursive https://github.com/cvg/pyceres
 RUN python3 -m pip install --upgrade pip
 RUN cd pyceres && \
     pip wheel . --no-deps -w dist-wheel -vv && \
@@ -168,13 +168,14 @@ RUN rm -rfv /tmp/*
 # Note: The dependencies listed in pyproject.toml also include pyceres, already
 # installed in previous Docker stages. Attempting to compile it in this stage
 # will lead to failure due to missing necessary development dependencies.
-# Therefore, we replicate the dependencies here, excluding pyceres
+# Therefore, we replicate the dependencies here, excluding pyceres.
 RUN python3 -m pip install --no-deps \
         h5py==3.10.0 \
         numpy==1.26.3 \
         torch>=1.1 \
         tqdm>=4.36.0 \
-        pycolmap==0.6.0
+        pycolmap==0.4.0 \
+        scikit-learn==1.5.2
 
 RUN cd /lamar && python3 -m pip install -e .  --no-deps
 WORKDIR /lamar
diff --git a/README.md b/README.md
index dc59e83..fa13897 100644
--- a/README.md
+++ b/README.md
@@ -66,32 +66,29 @@ T_w_i = sessions.trajectories[keys[0]]  # first pose, from sensor/rig to world
 
 ## Installation
 
-:one: Install the core dependencies:
-
-- Python 3.9 / 3.10, we recommend to use `venv` virtual environment.
-- Install in order: 
-  * [Ceres 2.1](https://ceres-solver.googlesource.com/ceres-solver/+/refs/tags/2.1.0)
-  * [COLMAP 3.8](https://colmap.github.io/install.html) built from source. Follow the instructions on the page, but **DO NOT install libceres-dev!!!** We just installed a correct version in the previous step.
-  * [hloc 1.4](https://github.com/cvg/Hierarchical-Localization) and its dependencies
-  * [pyceres](https://github.com/cvg/pyceres) built from source at tag v1.0.
-
-  or use the provided script:
+:one: Install the **core dependencies** using the provided script:
   ```bash
-  ./install_core_dependencies.sh
+  scripts/install_core_dependencies.sh
   ```
+Alternatively, you can install them manually in the following order:
+  * Python 3.9 / 3.10 (we recommend using a `venv` virtual environment).
+  * [Ceres Solver 2.1](https://ceres-solver.googlesource.com/ceres-solver/+/refs/tags/2.1.0)
+  * [Colmap 3.8](https://colmap.github.io/install.html) built from source. Note: **Do not install libceres-dev** as it was installed in the previous step.
+  * [hloc 1.4](https://github.com/cvg/Hierarchical-Localization) and its dependencies
+  * [pyceres v1.0](https://github.com/cvg/pyceres) built from source.
 
-:two: Install the LaMAR libraries and pull the remaining pip dependencies:
+:two: Install LaMAR libraries as editable packages:
 ```bash
 python -m pip install -e .
 ```
 
-:three: Optional: the processing pipeline additionally relies on heavier dependencies not required for benchmarking:
+:three: **Optional**: the processing pipeline additionally relies on heavier dependencies not required for benchmarking:
 
 - Pip dependencies: `python -m pip install -e .[scantools]`
 - [raybender](https://github.com/cvg/raybender) for raytracing
 - [pcdmeshing](https://github.com/cvg/pcdmeshing) for pointcloud meshing
 
-:four: Optional: if you wish to contribute, install the development tools as well:
+:four: **Optional**: if you wish to contribute, install the development tools as well:
 ```bash
 python -m pip install -e .[dev]
 ```
diff --git a/scripts/build_hloc.sh b/scripts/build_hloc.sh
index 2b3088c..96233b2 100755
--- a/scripts/build_hloc.sh
+++ b/scripts/build_hloc.sh
@@ -4,7 +4,7 @@ root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
 source ${root_folder}/scripts/load_env.sh
 
 # Clone hloc.
-git clone --recursive https://github.com/cvg/Hierarchical-Localization/ hloc --depth=1
+git clone --recursive -b v1.4 https://github.com/cvg/Hierarchical-Localization/ hloc --depth=1
 cd hloc
 
 # Build the wheel.
diff --git a/scripts/install_ceres_solver.sh b/scripts/install_ceres_solver.sh
new file mode 100755
index 0000000..560438d
--- /dev/null
+++ b/scripts/install_ceres_solver.sh
@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+
+root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
+source ${root_folder}/scripts/load_env.sh
+
+apt-get install -y --no-install-recommends --no-install-suggests \
+    cmake \
+    libgoogle-glog-dev \
+    libgflags-dev \
+    libatlas-base-dev \
+    libeigen3-dev \
+    libsuitesparse-dev \
+    build-essential
+
+git clone -b 2.1.0 https://github.com/ceres-solver/ceres-solver.git ceres-solver-v2.1.0 --depth=1
+cd ceres-solver-v2.1.0
+cmake -S . -B build
+cmake --build build --target install -- -j$(nproc)
diff --git a/scripts/install_colmap.sh b/scripts/install_colmap.sh
new file mode 100755
index 0000000..8a82dd1
--- /dev/null
+++ b/scripts/install_colmap.sh
@@ -0,0 +1,28 @@
+#!/usr/bin/env bash
+
+root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
+source ${root_folder}/scripts/load_env.sh
+
+apt-get install -y --no-install-recommends --no-install-suggests \
+    libboost-program-options-dev \
+    libboost-filesystem-dev \
+    libboost-graph-dev \
+    libboost-system-dev \
+    libeigen3-dev \
+    libflann-dev \
+    libfreeimage-dev \
+    libmetis-dev \
+    libgoogle-glog-dev \
+    libgtest-dev \
+    libgmock-dev \
+    libsqlite3-dev \
+    libglew-dev \
+    qtbase5-dev \
+    libqt5opengl5-dev \
+    libcgal-dev
+
+# Installing COLMAP version 3.8
+git clone --recursive -b 3.8 https://github.com/colmap/colmap colmap_v3.8 --depth=1
+cd colmap_v3.8
+cmake -S . -B build -DCMAKE_CUDA_ARCHITECTURES=all
+cmake --build build --target install -- -j$(nproc)
diff --git a/scripts/install_core_dependencies.sh b/scripts/install_core_dependencies.sh
index 934bf73..23b582c 100755
--- a/scripts/install_core_dependencies.sh
+++ b/scripts/install_core_dependencies.sh
@@ -1,101 +1,20 @@
-# Create a directory for all the dependencies
-mkdir external
-cd external
+root_folder=$(realpath $(dirname "$(readlink -f "${BASH_SOURCE[0]}")")/..)
+source ${root_folder}/scripts/load_env.sh
 
-#######################
-## Installing Ceres-Solver with tag 2.1.0
-## Check webpage https://ceres-solver.googlesource.com/ceres-solver/+/refs/tags/2.1.0 for more details
-git clone --no-checkout https://ceres-solver.googlesource.com/ceres-solver ceres_v2.1.0
-cd  ceres_v2.1.0
-git checkout f68321e7de8929fbcdb95dd42877531e64f72f66
+# Comment this line out if you want to use it 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
 
-# Installing system-wide dependencies for Ceres
-# Commands from http://ceres-solver.org/installation.html
-echo "Installing system-wide dependencies cmake  build-essential libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev"
-sudo apt-get install cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev  build-essential
+# Create external folder.
+mkdir ${root_folder}/external && cd ${root_folder}/external
 
-mkdir build
-cd build
-cmake ..
-make -j4
-sudo make install
-cd .. # exit build folder
-cd .. # Exiting ceres_v2.1.0
+# Ceres Solver.
+sudo ${root_folder}/scripts/install_ceres_solver.sh
 
+# Colmap.
+sudo ${root_folder}/scripts/install_colmap.sh
 
-#######################
-## Installing COLMAP version 3.8
-git clone https://github.com/colmap/colmap colmap_v3.8
-cd colmap_v3.8
-git checkout 3.8
-git submodule update --init --recursive
+# HLoc.
+python3 -m pip install git+https://github.com/cvg/Hierarchical-Localization.git@v1.4
 
-# # Installation instructions from https://colmap.github.io/install.html#build-from-source
-echo "Installing system-wide dependencies 
-    ninja-build \
-    libboost-program-options-dev \
-    libboost-filesystem-dev \
-    libboost-graph-dev \
-    libboost-system-dev \
-    libeigen3-dev \
-    libflann-dev \
-    libfreeimage-dev \
-    libmetis-dev \
-    libgoogle-glog-dev \
-    libgtest-dev \
-    libgmock-dev \
-    libsqlite3-dev \
-    libglew-dev \
-    qtbase5-dev \
-    libqt5opengl5-dev \
-    libcgal-dev \ "
-sudo apt-get install \
-    ninja-build \
-    libboost-program-options-dev \
-    libboost-filesystem-dev \
-    libboost-graph-dev \
-    libboost-system-dev \
-    libeigen3-dev \
-    libflann-dev \
-    libfreeimage-dev \
-    libmetis-dev \
-    libgoogle-glog-dev \
-    libgtest-dev \
-    libgmock-dev \
-    libsqlite3-dev \
-    libglew-dev \
-    qtbase5-dev \
-    libqt5opengl5-dev \
-    libcgal-dev \
-
-mkdir build
-cd build
-cmake .. -GNinja  -DCMAKE_CUDA_ARCHITECTURES=all
-ninja
-sudo ninja install
-
-cd .. # exit build folder
-cd .. # exit colmap_v3.8
-
-#######################
-## Installing HLOC version 1.4
-git clone --recursive https://github.com/cvg/Hierarchical-Localization/ hloc_v1.4
-cd hloc_v1.4
-git checkout v1.4
-git submodule update --init --recursive
-
-# installing
-echo "Installing hloc...."
-python -m pip install -e .
-
-cd .. # exit hloc_v1.4 folder
-
-### Installing pyceres version 1.0
-git clone https://github.com/cvg/pyceres.git pyceres_v1.0
-cd pyceres_v1.0
-git checkout v1.0
-git submodule update --init --recursive
-
-# installing pyceres
-python -m pip install .
-cd .. # exit pyceres 
\ No newline at end of file
+# Pyceres.
+python3 -m pip install git+https://github.com/cvg/pyceres.git@v1.0
diff --git a/scripts/load_env.sh b/scripts/load_env.sh
old mode 100644
new mode 100755
index d638c25..4d78858
--- a/scripts/load_env.sh
+++ b/scripts/load_env.sh
@@ -1,4 +1,6 @@
 #!/usr/bin/env bash
 
-PS4='\033[1;96m$(date "+%Y%m%d %H:%M:%S.%N") $BASH_SOURCE:$LINENO]\033[0m '
+# PS4='\033[1;96m$(date +%H:%M:%S)\033[0m '
+
+PS4='\033[0;32m$(date "+%Y%m%d %H:%M:%S.%N") $BASH_SOURCE:$LINENO]\033[0m '
 set -euxo pipefail