diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 126e386c..83a5aefe 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -12,20 +12,21 @@ on:
 
 jobs:
   build:
-    name: ${{ matrix.config.os }} ${{ matrix.config.arch }}
+    name: ${{ matrix.config.os }} ${{ matrix.config.arch }} with Python ${{ matrix.config.python-version }}
     runs-on: ${{ matrix.config.os }}
     strategy:
+      fail-fast: false
       matrix:
         config: [
-              {os: ubuntu-latest},
+          {os: ubuntu-latest, python-version: "3.8"},
+          {os: ubuntu-latest, python-version: "3.9"},
+          {os: ubuntu-latest, python-version: "3.10"},
         ]
     env:
       COMPILER_CACHE_VERSION: 1
       COMPILER_CACHE_DIR: ${{ github.workspace }}/compiler-cache
       CCACHE_DIR: ${{ github.workspace }}/compiler-cache/ccache
       CCACHE_BASEDIR: ${{ github.workspace }}
-      # For faster builds in PRs, skip all but the latest Python versions.
-      PULL_REQUEST_CIBW_BUILD: cp39-{manylinux}*
     steps:
       - uses: actions/checkout@v4
       - uses: actions/cache@v4
@@ -64,18 +65,54 @@ jobs:
             libunwind-dev \
             xvfb
 
+      - name: Set up Python ${{ matrix.config.python-version  }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.config.python-version  }}
+
       - name: Install Python dependencies
         run: |
           git submodule update --init --recursive
           python -m pip install --upgrade pip
           python -m pip install setuptools
-          python -m pip install -r requirements.txt  # If you have a requirements file
 
       - name: Build
-        run: |
-          python -m pip install -v .
+        run:  python -m pip install -v .
 
       - name: Run Python tests
+        run:  python -c "import limap; print(limap.__version__)"
+
+      - name: Build wheels
         run: |
-          python -c "import limap; print(limap.__version__)"
+          python -m pip install wheel
+          python setup.py bdist_wheel
+        env:
+          CIBW_ARCHS_MACOS: ${{ matrix.config.arch }}
 
+      - name: Upload wheel files as artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: limap-${{ matrix.config.os }}-${{ matrix.config.arch }}-cp${{ matrix.config.python-version }}
+          path: dist/*.whl
+
+  pypi-publish:
+    name: Publish wheels to PyPI
+    needs: build
+    runs-on: ubuntu-latest
+    # We publish the wheel to pypi when a new tag is pushed,
+    # either by creating a new GitHub release or explictly with `git tag`
+    if: ${{ github.event_name == 'release' || startsWith(github.ref, 'refs/tags') }}
+    steps:
+      - name: Download wheels
+        uses: actions/download-artifact@v4
+        with:
+          path: ./artifacts/
+      - name: Move wheels
+        run: mkdir ./wheelhouse && mv ./artifacts/**/*.whl ./wheelhouse/
+      - name: Publish package
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          skip-existing: true
+          user: __token__
+          password: ${{ secrets.PYPI_API_TOKEN }}
+          packages-dir: ./wheelhouse/
diff --git a/.gitmodules b/.gitmodules
index 98e7cd09..7344c97b 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,9 +1,6 @@
 [submodule "third-party/pybind11"]
 	path = third-party/pybind11
 	url = https://github.com/pybind/pybind11.git
-[submodule "third-party/Hierarchical-Localization"]
-	path = third-party/Hierarchical-Localization
-	url = https://github.com/cvg/Hierarchical-Localization.git
 [submodule "third-party/RansacLib"]
 	path = third-party/RansacLib
 	url = https://github.com/B1ueber2y/RansacLib.git
@@ -11,15 +8,6 @@
 [submodule "third-party/HighFive"]
 	path = third-party/HighFive
 	url = https://github.com/B1ueber2y/HighFive.git
-[submodule "third-party/pytlsd"]
-	path = third-party/pytlsd
-	url = https://github.com/iago-suarez/pytlsd.git
-[submodule "third-party/DeepLSD"]
-	path = third-party/DeepLSD
-	url = https://github.com/cvg/DeepLSD.git
-[submodule "third-party/GlueStick"]
-	path = third-party/GlueStick
-	url = https://github.com/cvg/GlueStick.git
 [submodule "third-party/libigl"]
 	path = third-party/libigl
 	url = https://github.com/libigl/libigl.git
diff --git a/README.md b/README.md
index 5302048f..fb2d775a 100644
--- a/README.md
+++ b/README.md
@@ -19,8 +19,9 @@ In this project, we provide interfaces for various geometric operations on 2D/3D
 ## Installation
 
 **Install the dependencies as follows:**
+* Python 3.8/9/10
 * CMake >= 3.17
-* All dependencies for third-party: COLMAP (will be installed with FetchContent). From [[official guide](https://colmap.github.io/install.html)]
+* The following dependencies (many of which are for the third-party COLMAP from its [[official guide](https://colmap.github.io/install.html)]):
 ```bash
 sudo apt-get install \
     git \
@@ -43,23 +44,13 @@ sudo apt-get install \
     qtbase5-dev \
     libqt5opengl5-dev \
     libcgal-dev \
-    libceres-dev
-```
-* HDF5
-```bash
-sudo apt-get install libhdf5-dev
-```
-* Python >= 3.9 + required packages
-```bash
-git submodule update --init --recursive
-
-# Refer to https://pytorch.org/get-started/previous-versions/ to install pytorch compatible with your CUDA
-python -m pip install torch==1.12.0 torchvision==0.13.0 
-python -m pip install -r requirements.txt
+    libceres-dev \
+    libhdf5-dev
 ```
 
 To install the LIMAP Python package:
 ```
+git submodule update --init --recursive
 python -m pip install -Ive . 
 ```
 To double check if the package is successfully installed:
diff --git a/requirements.txt b/requirements.txt
index c038eeac..37bfd734 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -25,7 +25,7 @@ pycolmap
 ruff==0.6.7
 clang-format==19.1.0
 
-./third-party/pytlsd
-./third-party/Hierarchical-Localization
-./third-party/DeepLSD
-./third-party/GlueStick
+pytlsd @ git+https://github.com/iago-suarez/pytlsd.git@37ac583
+hloc @ git+https://github.com/cvg/Hierarchical-Localization.git@abb2520
+deeplsd @ git+https://github.com/cvg/DeepLSD.git@88c589d
+gluestick @ git+https://github.com/cvg/GlueStick.git@0f28efd
diff --git a/setup.py b/setup.py
index f8c5ac3e..14bc8566 100644
--- a/setup.py
+++ b/setup.py
@@ -2,7 +2,7 @@
 import subprocess
 import sys
 
-from setuptools import Extension, setup
+from setuptools import Extension, find_packages, setup
 from setuptools.command.build_ext import build_ext
 
 # Cores used for building the project
@@ -62,17 +62,40 @@ def build_extension(self, ext):
         )
 
 
+# Read requirements from requirements.txt
+def parse_requirements_for_limap(filename):
+    requirements = []
+    with open(filename) as f:
+        requirements = [
+            line.strip()
+            for line in f
+            if line.strip()
+            and not line.startswith("#")
+            and not line.startswith(".")
+        ]
+    return requirements
+
+
 # The information here can also be placed in setup.cfg - better separation of
 # logic and declaration, and simpler if you include description/version in
 # one file.
 setup(
     name="limap",
     version="1.0.0",
-    author="B1ueber2y",
+    packages=find_packages(),
+    python_requires=">=3.8, < 3.11",
+    install_requires=parse_requirements_for_limap("requirements.txt"),
+    author="Shaohui Liu",
     author_email="b1ueber2y@gmail.com",
     description="A toolbox for mapping and localization with line features",
     long_description="",
     ext_modules=[CMakeExtension("_limap")],
     cmdclass={"build_ext": CMakeBuild},
     zip_safe=False,
+    classifiers=[
+        "Programming Language :: Python :: 3.8",
+        "Programming Language :: Python :: 3.9",
+        "Programming Language :: Python :: 3.10",
+        "Operating System :: OS Independent",
+    ],
 )
diff --git a/third-party/DeepLSD b/third-party/DeepLSD
deleted file mode 160000
index 88c589df..00000000
--- a/third-party/DeepLSD
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 88c589dfdd824a94051131cd5bce88588009bebb
diff --git a/third-party/GlueStick b/third-party/GlueStick
deleted file mode 160000
index 0a6a1ae4..00000000
--- a/third-party/GlueStick
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 0a6a1ae4569164d8fd1e4d24755d4dec6d9d7d60
diff --git a/third-party/Hierarchical-Localization b/third-party/Hierarchical-Localization
deleted file mode 160000
index abb25208..00000000
--- a/third-party/Hierarchical-Localization
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit abb252080282e31147db6291206ca102c43353f7
diff --git a/third-party/pytlsd b/third-party/pytlsd
deleted file mode 160000
index 37ac5833..00000000
--- a/third-party/pytlsd
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 37ac583341cbca74c2bbb1e07b82e1447f7cdf5f