diff --git a/.github/actions/install-macos-source-deps/action.yml b/.github/actions/install-macos-source-deps/action.yml
index 589d9e96..21dbd3d4 100644
--- a/.github/actions/install-macos-source-deps/action.yml
+++ b/.github/actions/install-macos-source-deps/action.yml
@@ -197,6 +197,7 @@ runs:
           -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
           -DCMAKE_INSTALL_PREFIX=/usr/local \
           -DBUILD_TESTS=OFF \
+          -DBUILD_SHARED_LIBS=ON \
           -DCMAKE_POLICY_VERSION_MINIMUM=3.5 \
           -DEIGEN_INCLUDE_DIR="$(brew --prefix eigen)/include/eigen3"
         cmake --build build -j$NPROC
diff --git a/.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch b/.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch
index 292b2d3e..c503c37a 100644
--- a/.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch
+++ b/.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch
@@ -1,5 +1,5 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9660f55..ca01034 100644
+index 9660f55..0186da4 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
 @@ -31,12 +31,12 @@ IF(MSVC)
@@ -18,6 +18,24 @@ index 9660f55..ca01034 100644
    ENDIF()
    add_definitions (
      -O3
+@@ -181,7 +181,7 @@ add_library( random_generators test/random_generators.cpp test/random_generators
+ set_target_properties( opengv random_generators PROPERTIES
+                     SOVERSION ${PROJECT_VERSION}
+                     VERSION ${PROJECT_VERSION}
+-                    CXX_STANDARD 11
++                    CXX_STANDARD 14
+                     CXX_STANDARD_REQUIRED ON
+                     DEBUG_POSTFIX d )
+ 
+@@ -329,7 +329,7 @@ IF (BUILD_TESTS)
+     test_Sturm
+ 
+     PROPERTIES
+-    CXX_STANDARD 11
++    CXX_STANDARD 14
+     CXX_STANDARD_REQUIRED ON
+     DEBUG_POSTFIX d )
+ 
 diff --git a/modules/FindEigen.cmake b/modules/FindEigen.cmake
 index 126f4a0..39b5524 100644
 --- a/modules/FindEigen.cmake
@@ -37,3 +55,255 @@ index 126f4a0..39b5524 100644
  
    string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
    set(EIGEN_WORLD_VERSION "${CMAKE_MATCH_1}")
+diff --git a/src/absolute_pose/CentralAbsoluteAdapter.cpp b/src/absolute_pose/CentralAbsoluteAdapter.cpp
+index 684fa7e..a4ff2bd 100644
+--- a/src/absolute_pose/CentralAbsoluteAdapter.cpp
++++ b/src/absolute_pose/CentralAbsoluteAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/absolute_pose/CentralAbsoluteAdapter.hpp>
+ 
+ 
+diff --git a/src/absolute_pose/MACentralAbsolute.cpp b/src/absolute_pose/MACentralAbsolute.cpp
+index 6edbabc..1687d45 100644
+--- a/src/absolute_pose/MACentralAbsolute.cpp
++++ b/src/absolute_pose/MACentralAbsolute.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/absolute_pose/MACentralAbsolute.hpp>
+ 
+ 
+diff --git a/src/absolute_pose/MANoncentralAbsolute.cpp b/src/absolute_pose/MANoncentralAbsolute.cpp
+index d9b5b09..a7ae689 100644
+--- a/src/absolute_pose/MANoncentralAbsolute.cpp
++++ b/src/absolute_pose/MANoncentralAbsolute.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/absolute_pose/MANoncentralAbsolute.hpp>
+ 
+ opengv::absolute_pose::MANoncentralAbsolute::MANoncentralAbsolute(
+diff --git a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
+index 30176aa..6a0e405 100644
+--- a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
++++ b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp>
+ 
+ opengv::absolute_pose::NoncentralAbsoluteAdapter::NoncentralAbsoluteAdapter(
+diff --git a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
+index 88c237a..58a82f4 100644
+--- a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
++++ b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/absolute_pose/NoncentralAbsoluteMultiAdapter.hpp>
+ 
+ opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::NoncentralAbsoluteMultiAdapter(
+diff --git a/src/absolute_pose/methods.cpp b/src/absolute_pose/methods.cpp
+index b1f0889..19c4eaf 100644
+--- a/src/absolute_pose/methods.cpp
++++ b/src/absolute_pose/methods.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/absolute_pose/methods.hpp>
+ #include <opengv/Indices.hpp>
+ 
+diff --git a/src/absolute_pose/modules/main.cpp b/src/absolute_pose/modules/main.cpp
+index ed0c271..99f7f35 100644
+--- a/src/absolute_pose/modules/main.cpp
++++ b/src/absolute_pose/modules/main.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <Eigen/NonLinearOptimization>
+ #include <Eigen/NumericalDiff>
+ 
+diff --git a/src/math/arun.cpp b/src/math/arun.cpp
+index a0d6296..f5c0ac3 100644
+--- a/src/math/arun.cpp
++++ b/src/math/arun.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/math/arun.hpp>
+ 
+ opengv::rotation_t
+diff --git a/src/point_cloud/MAPointCloud.cpp b/src/point_cloud/MAPointCloud.cpp
+index 81fd5dd..cdccae3 100644
+--- a/src/point_cloud/MAPointCloud.cpp
++++ b/src/point_cloud/MAPointCloud.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/point_cloud/MAPointCloud.hpp>
+ 
+ opengv::point_cloud::MAPointCloud::MAPointCloud(
+diff --git a/src/point_cloud/PointCloudAdapter.cpp b/src/point_cloud/PointCloudAdapter.cpp
+index f9faaeb..28fbb7e 100644
+--- a/src/point_cloud/PointCloudAdapter.cpp
++++ b/src/point_cloud/PointCloudAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/point_cloud/PointCloudAdapter.hpp>
+ 
+ opengv::point_cloud::PointCloudAdapter::PointCloudAdapter(
+diff --git a/src/point_cloud/methods.cpp b/src/point_cloud/methods.cpp
+index 5409eeb..7a26e6a 100644
+--- a/src/point_cloud/methods.cpp
++++ b/src/point_cloud/methods.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/point_cloud/methods.hpp>
+ #include <opengv/Indices.hpp>
+ 
+diff --git a/src/relative_pose/CentralRelativeAdapter.cpp b/src/relative_pose/CentralRelativeAdapter.cpp
+index 38e9a62..5018bd8 100644
+--- a/src/relative_pose/CentralRelativeAdapter.cpp
++++ b/src/relative_pose/CentralRelativeAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/CentralRelativeAdapter.hpp>
+ 
+ opengv::relative_pose::CentralRelativeAdapter::CentralRelativeAdapter(
+diff --git a/src/relative_pose/CentralRelativeMultiAdapter.cpp b/src/relative_pose/CentralRelativeMultiAdapter.cpp
+index 2ab7476..49a3a07 100644
+--- a/src/relative_pose/CentralRelativeMultiAdapter.cpp
++++ b/src/relative_pose/CentralRelativeMultiAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/CentralRelativeMultiAdapter.hpp>
+ 
+ opengv::relative_pose::CentralRelativeMultiAdapter::CentralRelativeMultiAdapter(
+diff --git a/src/relative_pose/CentralRelativeWeightingAdapter.cpp b/src/relative_pose/CentralRelativeWeightingAdapter.cpp
+index a6ab478..7684526 100644
+--- a/src/relative_pose/CentralRelativeWeightingAdapter.cpp
++++ b/src/relative_pose/CentralRelativeWeightingAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/CentralRelativeWeightingAdapter.hpp>
+ 
+ opengv::relative_pose::CentralRelativeWeightingAdapter::CentralRelativeWeightingAdapter(
+diff --git a/src/relative_pose/MACentralRelative.cpp b/src/relative_pose/MACentralRelative.cpp
+index ec2959f..75e76d5 100644
+--- a/src/relative_pose/MACentralRelative.cpp
++++ b/src/relative_pose/MACentralRelative.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/MACentralRelative.hpp>
+ 
+ opengv::relative_pose::MACentralRelative::MACentralRelative(
+diff --git a/src/relative_pose/MANoncentralRelative.cpp b/src/relative_pose/MANoncentralRelative.cpp
+index cea9c14..8566aeb 100644
+--- a/src/relative_pose/MANoncentralRelative.cpp
++++ b/src/relative_pose/MANoncentralRelative.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/MANoncentralRelative.hpp>
+ 
+ opengv::relative_pose::MANoncentralRelative::MANoncentralRelative(
+diff --git a/src/relative_pose/MANoncentralRelativeMulti.cpp b/src/relative_pose/MANoncentralRelativeMulti.cpp
+index 49f8ecf..8b62e07 100644
+--- a/src/relative_pose/MANoncentralRelativeMulti.cpp
++++ b/src/relative_pose/MANoncentralRelativeMulti.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/MANoncentralRelativeMulti.hpp>
+ 
+ opengv::relative_pose::MANoncentralRelativeMulti::MANoncentralRelativeMulti(
+diff --git a/src/relative_pose/NoncentralRelativeAdapter.cpp b/src/relative_pose/NoncentralRelativeAdapter.cpp
+index 552f180..775d520 100644
+--- a/src/relative_pose/NoncentralRelativeAdapter.cpp
++++ b/src/relative_pose/NoncentralRelativeAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/NoncentralRelativeAdapter.hpp>
+ 
+ opengv::relative_pose::NoncentralRelativeAdapter::NoncentralRelativeAdapter(
+diff --git a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
+index f41edbe..733023c 100644
+--- a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
++++ b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/NoncentralRelativeMultiAdapter.hpp>
+ 
+ opengv::relative_pose::NoncentralRelativeMultiAdapter::NoncentralRelativeMultiAdapter(
+diff --git a/src/relative_pose/methods.cpp b/src/relative_pose/methods.cpp
+index 0027dae..7678567 100644
+--- a/src/relative_pose/methods.cpp
++++ b/src/relative_pose/methods.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/methods.hpp>
+ #include <opengv/Indices.hpp>
+ 
+diff --git a/src/relative_pose/modules/fivept_nister/modules.cpp b/src/relative_pose/modules/fivept_nister/modules.cpp
+index 4b134c5..258d416 100644
+--- a/src/relative_pose/modules/fivept_nister/modules.cpp
++++ b/src/relative_pose/modules/fivept_nister/modules.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/modules/fivept_nister/modules.hpp>
+ #include <Eigen/NonLinearOptimization>
+ #include <Eigen/NumericalDiff>