diff --git a/.gitignore b/.gitignore
index e01e346..116cb70 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,5 @@
 .vscode/
 build/
+*.egg-info/
 *.pyc
+*.so
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..1a5c573
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "torchsparse/backend/third_party/sparsehash"]
+	path = torchsparse/backend/third_party/sparsehash
+	url = https://github.com/sparsehash/sparsehash.git
diff --git a/cython_setup.py b/cython_setup.py
index 524bce0..9d879e4 100644
--- a/cython_setup.py
+++ b/cython_setup.py
@@ -80,7 +80,6 @@
         "tqdm",
         "typing-extensions",
         "wheel",
-        "rootpath",
         "attributedict",
     ],
     cmdclass={"build_ext": BuildExtension},
diff --git a/requirements.txt b/requirements.txt
index 27bc0e2..41ec64e 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -4,4 +4,3 @@ tqdm
 typing-extensions
 wheel
 attributedict
-rootpath
diff --git a/setup.py b/setup.py
index eeecf22..b954115 100644
--- a/setup.py
+++ b/setup.py
@@ -1,5 +1,7 @@
 import glob
 import os
+from pathlib import Path
+from subprocess import run
 
 import torch
 import torch.cuda
@@ -10,12 +12,11 @@
     CppExtension,
     CUDAExtension,
 )
+from torchsparse.version import __version__
 
-# from torchsparse import __version__
+print("torchsparse version:", __version__)
 
-version_file = open("./torchsparse/version.py")
-version = version_file.read().split("'")[1]
-print("torchsparse version:", version)
+build_ext = BuildExtension.with_options(no_python_abi_suffix=True, use_ninja=True)
 
 if (torch.cuda.is_available() and CUDA_HOME is not None) or (
     os.getenv("FORCE_CUDA", "0") == "1"
@@ -34,14 +35,24 @@
         sources.append(fpath)
 
 extension_type = CUDAExtension if device == "cuda" else CppExtension
+current_dir = Path(__file__).parent.resolve()
+sparsehash_dir = current_dir / "torchsparse" / "backend" / "third_party" / "sparsehash"
+sparsehash_dir_inc = sparsehash_dir / "src"
+sparseconfig_path = sparsehash_dir_inc / "sparsehash" / "internal" / "sparseconfig.h"
+
+if not sparseconfig_path.exists():
+    print("Generating sparseconfig.h ...")
+    run(["./configure"], cwd=sparsehash_dir, check=True)
+    run(["make", "src/sparsehash/internal/sparseconfig.h"], cwd=sparsehash_dir, check=True)
+
 extra_compile_args = {
-    "cxx": ["-g", "-O3", "-fopenmp", "-lgomp"],
-    "nvcc": ["-O3", "-std=c++17"],
+    "cxx": ["-O3", "-fopenmp", "-lgomp", f"-I{sparsehash_dir_inc}"],
+    "nvcc": ["-O3"],
 }
 
 setup(
     name="torchsparse",
-    version=version,
+    version=__version__,
     packages=find_packages(),
     ext_modules=[
         extension_type(
@@ -49,19 +60,27 @@
         )
     ],
     url="https://github.com/mit-han-lab/torchsparse",
+    include_package_data=True,
     install_requires=[
+        "ninja",
         "numpy",
         "backports.cached_property",
         "tqdm",
         "typing-extensions",
         "wheel",
-        "rootpath",
         "torch",
         "torchvision"
     ],
-    dependency_links=[
-        'https://download.pytorch.org/whl/cu118'
-    ],
-    cmdclass={"build_ext": BuildExtension},
+    cmdclass={"build_ext": build_ext},
     zip_safe=False,
 )
+
+for f in [
+    "Makefile",
+    "config.log",
+    "config.status",
+    "src/config.h",
+    "src/sparsehash/internal/sparseconfig.h",
+    "src/stamp-h1",
+]:
+    (sparsehash_dir / f).unlink(missing_ok=True)
diff --git a/torchsparse/backend/third_party/sparsehash b/torchsparse/backend/third_party/sparsehash
new file mode 160000
index 0000000..1dffea3
--- /dev/null
+++ b/torchsparse/backend/third_party/sparsehash
@@ -0,0 +1 @@
+Subproject commit 1dffea3d917445d70d33d0c7492919fc4408fe5c
diff --git a/torchsparse/nn/functional/conv/utils/collections.py b/torchsparse/nn/functional/conv/utils/collections.py
index b828645..6a69bfa 100644
--- a/torchsparse/nn/functional/conv/utils/collections.py
+++ b/torchsparse/nn/functional/conv/utils/collections.py
@@ -25,8 +25,6 @@
 #       IMPORT
 # --------------------------------------
 
-import rootpath
-
 import collections
 
 from . import compat
diff --git a/torchsparse/nn/functional/conv/utils/compat.py b/torchsparse/nn/functional/conv/utils/compat.py
index 02d9bd5..7bcbe1b 100644
--- a/torchsparse/nn/functional/conv/utils/compat.py
+++ b/torchsparse/nn/functional/conv/utils/compat.py
@@ -25,8 +25,6 @@
 #       DEPS
 # --------------------------------------
 
-import rootpath
-
 # @see https://github.com/benjaminp/six/blob/master/six.py
 
 import sys