dec76b893d647d1dab33014ca5d1e88d7030d337abb75a4cf6f837c0451d13a5

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openblas/uwp.patch

@@ -0,0 +1,50 @@
+diff --git a/cmake/prebuild.cmake b/cmake/prebuild.cmake
+--- a/cmake/prebuild.cmake	2019-01-28 03:05:58.422245700 -0600
++++ b/cmake/prebuild.cmake	2019-01-28 03:07:02.885495800 -0600
+@@ -37,6 +37,9 @@
+ 
+ # CPUIDEMU = ../../cpuid/table.o
+ 
++if (NOT DEFINED BLASHELPER_BINARY_DIR)
++  set(BLASHELPER_BINARY_DIR "${PROJECT_BINARY_DIR}")
++endif ()
+ 
+ if (DEFINED CPUIDEMU)
+   set(EXFLAGS "-DCPUIDEMU -DVENDOR=99")
+@@ -310,8 +313,8 @@ else(NOT CMAKE_CROSSCOMPILING)
+   message(STATUS "Running getarch")
+ 
+   # use the cmake binary w/ the -E param to run a shell command in a cross-platform way
+-execute_process(COMMAND "${PROJECT_BINARY_DIR}/${GETARCH_BIN}" 0 OUTPUT_VARIABLE GETARCH_MAKE_OUT)
+-execute_process(COMMAND "${PROJECT_BINARY_DIR}/${GETARCH_BIN}" 1 OUTPUT_VARIABLE GETARCH_CONF_OUT)
++execute_process(COMMAND "${BLASHELPER_BINARY_DIR}/${GETARCH_BIN}" 0 OUTPUT_VARIABLE GETARCH_MAKE_OUT)
++execute_process(COMMAND "${BLASHELPER_BINARY_DIR}/${GETARCH_BIN}" 1 OUTPUT_VARIABLE GETARCH_CONF_OUT)
+ 
+   message(STATUS "GETARCH results:\n${GETARCH_MAKE_OUT}")
+ 
+@@ -337,8 +340,8 @@ execute_process(COMMAND "${PROJECT_BINAR
+   endif ()
+ 
+   # use the cmake binary w/ the -E param to run a shell command in a cross-platform way
+-execute_process(COMMAND "${PROJECT_BINARY_DIR}/${GETARCH2_BIN}" 0 OUTPUT_VARIABLE GETARCH2_MAKE_OUT)
+-execute_process(COMMAND "${PROJECT_BINARY_DIR}/${GETARCH2_BIN}" 1 OUTPUT_VARIABLE GETARCH2_CONF_OUT)
++execute_process(COMMAND "${BLASHELPER_BINARY_DIR}/${GETARCH2_BIN}" 0 OUTPUT_VARIABLE GETARCH2_MAKE_OUT)
++execute_process(COMMAND "${BLASHELPER_BINARY_DIR}/${GETARCH2_BIN}" 1 OUTPUT_VARIABLE GETARCH2_CONF_OUT)
+ 
+   # append config data from getarch_2nd to the TARGET file and read in CMake vars
+   file(APPEND ${TARGET_CONF_TEMP} ${GETARCH2_CONF_OUT})
+
+diff --git a/cmake/system.cmake b/cmake/system.cmake
+index a060d98..52ffa5a 100644
+--- a/cmake/system.cmake
++++ b/cmake/system.cmake
+@@ -13,6 +13,9 @@ if(CMAKE_CROSSCOMPILING AND NOT DEFINED TARGET)
+     set(TARGET "ARMV8")
+   elseif(ARM)
+     set(TARGET "ARMV7") # TODO: Ask compiler which arch this is
++  elseif(${HOST_OS} STREQUAL "WINDOWSSTORE")
++    set(CMAKE_CROSSCOMPILING 0)
++    add_definitions(-D_CRT_SECURE_NO_WARNINGS=1)
+   else()
+     message(FATAL_ERROR "When cross compiling, a TARGET is required.")
+   endif()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openblas/vcpkg.json

@@ -0,0 +1,49 @@
+{
+  "name": "openblas",
+  "version": "0.3.19",
+  "description": "OpenBLAS is an optimized BLAS library based on GotoBLAS2 1.13 BSD version.",
+  "homepage": "https://github.com/xianyi/OpenBLAS",
+  "dependencies": [
+    {
+      "name": "openblas",
+      "host": true
+    },
+    {
+      "name": "pthread",
+      "platform": "!windows & !uwp"
+    },
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "features": {
+    "dynamic-arch": {
+      "description": "Support for multiple targets in a single library"
+    },
+    "simplethread": {
+      "description": "Use simple thread",
+      "dependencies": [
+        {
+          "name": "openblas",
+          "features": [
+            "threads"
+          ]
+        }
+      ]
+    },
+    "threads": {
+      "description": "Use a threading backend",
+      "dependencies": [
+        {
+          "name": "pthread",
+          "platform": "!windows & !uwp"
+        }
+      ]
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencascade/fix-install-prefix-path.patch

@@ -0,0 +1,15 @@
+diff --git a/adm/templates/OpenCASCADEConfig.cmake.in b/adm/templates/OpenCASCADEConfig.cmake.in
+index e391ddf..c926c49 100644
+--- a/adm/templates/OpenCASCADEConfig.cmake.in
++++ b/adm/templates/OpenCASCADEConfig.cmake.in
+@@ -24,6 +24,7 @@ set (OpenCASCADE_DEVELOPMENT_VERSION "@OCC_VERSION_DEVELOPMENT@")
+ # - in Android style: $INSTALL_DIR/libs/$CMAKE_ANDROID_ARCH_ABI/cmake/opencascade-<version>
+ get_filename_component (OpenCASCADE_INSTALL_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+ get_filename_component (OpenCASCADE_INSTALL_PREFIX "${OpenCASCADE_INSTALL_PREFIX}" PATH)
++get_filename_component (OpenCASCADE_INSTALL_PREFIX "${OpenCASCADE_INSTALL_PREFIX}" PATH)
+ if (OpenCASCADE_INSTALL_PREFIX MATCHES "/cmake$")
+   get_filename_component (OpenCASCADE_INSTALL_PREFIX "${OpenCASCADE_INSTALL_PREFIX}" PATH)
+ endif()
+-- 
+2.14.3.windows.1
+

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencascade/fix-pdb-find.patch

@@ -0,0 +1,33 @@
+diff --git a/adm/cmake/cotire.cmake b/adm/cmake/cotire.cmake
+index a63f3ce..aa77c20 100644
+--- a/adm/cmake/cotire.cmake
++++ b/adm/cmake/cotire.cmake
+@@ -3114,6 +3114,7 @@ function (cotire_setup_unity_build_target _languages _configurations _target)
+ 		OSX_ARCHITECTURES OSX_ARCHITECTURES_<CONFIG> PRIVATE_HEADER PUBLIC_HEADER RESOURCE XCTEST
+ 		IOS_INSTALL_COMBINED)
+ 	# copy Windows platform specific stuff
++    if (BUILD_SHARED_LIBS)
+ 	cotire_copy_set_properites("${_configurations}" TARGET ${_target} ${_unityTargetName}
+ 		GNUtoMS
+ 		COMPILE_PDB_NAME COMPILE_PDB_NAME_<CONFIG>
+@@ -3129,6 +3130,7 @@ function (cotire_setup_unity_build_target _languages _configurations _target)
+ 		WIN32_EXECUTABLE WINDOWS_EXPORT_ALL_SYMBOLS
+ 		DEPLOYMENT_REMOTE_DIRECTORY VS_CONFIGURATION_TYPE
+ 		VS_SDK_REFERENCES)
++    endif()
+ 	# copy Android platform specific stuff
+ 	cotire_copy_set_properites("${_configurations}" TARGET ${_target} ${_unityTargetName}
+ 		ANDROID_API ANDROID_API_MIN ANDROID_GUI
+diff --git a/adm/cmake/occt_toolkit.cmake b/adm/cmake/occt_toolkit.cmake
+index 2f96c6f..78f15f0 100644
+--- a/adm/cmake/occt_toolkit.cmake
++++ b/adm/cmake/occt_toolkit.cmake
+@@ -235,7 +235,7 @@ if (EXECUTABLE_PROJECT)
+ else()
+   add_library (${PROJECT_NAME} ${USED_SRCFILES} ${USED_INCFILES} ${USED_RCFILE} ${RESOURCE_FILES} ${${PROJECT_NAME}_MOC_FILES})
+ 
+-  if (MSVC)
++  if (MSVC AND BUILD_SHARED_LIBS)
+     if (BUILD_FORCE_RelWithDebInfo)
+       set (aReleasePdbConf "Release")
+     else()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencascade/install-include-dir.patch

@@ -0,0 +1,31 @@
+From 32c4bdd88555309752215c53842d438cb51bcb62 Mon Sep 17 00:00:00 2001
+From: bloess <[email protected]>
+Date: Mon, 15 Feb 2021 16:26:36 +0100
+Subject: [PATCH] install include-dir
+
+---
+ CMakeLists.txt | 9 +++++++++
+ 1 file changed, 9 insertions(+)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 100d613..464f95a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1171,6 +1171,14 @@ foreach (OCCT_MODULE ${OCCT_MODULES})
+ endforeach()
+ set (OCCT_MODULES_ENABLED ${OCCT_MODULES_ENABLED_SORTED})
+ 
++foreach (OCCT_LIBRARY ${OCCT_LIBRARIES})
++	target_include_directories(
++		${OCCT_LIBRARY} 
++		INTERFACE
++		$<INSTALL_INTERFACE:include>)
++
++endforeach()
++
+ # Add all targets to the build-tree export set
+ export (TARGETS ${OCCT_LIBRARIES} FILE "${CMAKE_BINARY_DIR}/OpenCASCADETargets.cmake")
+ 
+-- 
+2.14.3.windows.1
+

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencascade/portfile.cmake

@@ -0,0 +1,108 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO Open-Cascade-SAS/OCCT
+    REF 80ffc5f84dae96de6ed093d3e5d2466a9e368b27 #V7.6.0
+    SHA512 1dfee9c59eb6ea61735f0807d44ccf62019a2649f506a5a8197e04b1533592dc95d6d67ab7a3bb392785755ed60b6fc489bea049f658d4ae7d05dfe0d7d5bdcd
+    HEAD_REF master
+    PATCHES
+        fix-pdb-find.patch
+        fix-install-prefix-path.patch
+        install-include-dir.patch
+)
+
+if (VCPKG_LIBRARY_LINKAGE STREQUAL dynamic)
+    set(BUILD_TYPE "Shared")
+else()
+    set(BUILD_TYPE "Static")
+endif()
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        "freeimage"  USE_FREEIMAGE
+        "tbb"        USE_TBB
+        "rapidjson"  USE_RAPIDJSON
+)
+
+# VTK option in opencascade not currently supported because only 6.1.0 is supported but vcpkg has >= 9.0
+
+# We turn off BUILD_MODULE_Draw as it requires TCL 8.6 and TK 8.6 specifically which conflicts with vcpkg only having TCL 9.0 
+# And pre-built ActiveTCL binaries are behind a marketing wall :(
+# We use the Unix install layout for Windows as it matches vcpkg
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        ${FEATURE_OPTIONS}
+        -DBUILD_LIBRARY_TYPE=${BUILD_TYPE}
+        -DBUILD_MODULE_Draw=OFF
+        -DINSTALL_DIR_LAYOUT=Unix
+        -DBUILD_SAMPLES_MFC=OFF
+        -DBUILD_SAMPLES_QT=OFF
+        -DBUILD_DOC_Overview=OFF
+        -DINSTALL_TEST_CASES=OFF
+        -DINSTALL_SAMPLES=OFF
+)
+
+vcpkg_cmake_install()
+
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/opencascade)
+
+#make occt includes relative to source_file
+list(APPEND ADDITIONAL_HEADERS 
+      "ExprIntrp.tab.h"
+	  "FlexLexer.h"
+	  "glext.h"
+	  "igesread.h"
+	  "NCollection_Haft.h"
+	  "OSD_PerfMeter.h"
+	  "Standard_values.h"
+    )
+
+file(GLOB files "${CURRENT_PACKAGES_DIR}/include/opencascade/[a-zA-Z0-9_]*\.[hgl]xx")
+foreach(file_name IN LISTS files)
+	file(READ "${file_name}" filedata)
+	string(REGEX REPLACE "# *include \<([a-zA-Z0-9_]*\.[hgl]xx)\>" "#include \"\\1\"" filedata "${filedata}")
+	foreach(extra_header IN LISTS ADDITIONAL_HEADERS)
+		string(REGEX REPLACE "# *include \<${extra_header}\>" "#include \"${extra_header}\"" filedata "${filedata}")
+	endforeach()
+	file(WRITE "${file_name}" "${filedata}")
+endforeach()
+
+# Remove libd to lib, libd just has cmake files we dont want too
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/lib")
+file(RENAME "${CURRENT_PACKAGES_DIR}/debug/libd" "${CURRENT_PACKAGES_DIR}/debug/lib")
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+
+if (VCPKG_LIBRARY_LINKAGE STREQUAL dynamic)
+    # debug creates libd and bind directories that need moving
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/bin")
+    file(RENAME "${CURRENT_PACKAGES_DIR}/debug/bind" "${CURRENT_PACKAGES_DIR}/debug/bin")
+    
+    # fix paths in target files
+    list(APPEND TARGET_FILES 
+        "${CURRENT_PACKAGES_DIR}/share/opencascade/OpenCASCADEApplicationFrameworkTargets-debug.cmake"
+        "${CURRENT_PACKAGES_DIR}/share/opencascade/OpenCASCADECompileDefinitionsAndFlags-debug.cmake"
+        "${CURRENT_PACKAGES_DIR}/share/opencascade/OpenCASCADEDataExchangeTargets-debug.cmake"
+        "${CURRENT_PACKAGES_DIR}/share/opencascade/OpenCASCADEFoundationClassesTargets-debug.cmake"
+        "${CURRENT_PACKAGES_DIR}/share/opencascade/OpenCASCADEModelingAlgorithmsTargets-debug.cmake"
+        "${CURRENT_PACKAGES_DIR}/share/opencascade/OpenCASCADEModelingDataTargets-debug.cmake"
+        "${CURRENT_PACKAGES_DIR}/share/opencascade/OpenCASCADEVisualizationTargets-debug.cmake"
+    )
+    
+    foreach(TARGET_FILE IN LISTS TARGET_FILES)
+        file(READ "${TARGET_FILE}" filedata)
+        string(REGEX REPLACE "libd" "lib" filedata "${filedata}")
+        string(REGEX REPLACE "bind" "bin" filedata "${filedata}")
+        file(WRITE "${TARGET_FILE}" "${filedata}")
+    endforeach()
+
+    # the bin directory ends up with bat files that are noise, let's clean that up
+    file(GLOB BATS "${CURRENT_PACKAGES_DIR}/bin/*.bat")
+    file(REMOVE_RECURSE ${BATS})
+else()
+    # remove scripts in bin dir
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+endif()
+
+file(INSTALL "${SOURCE_PATH}/OCCT_LGPL_EXCEPTION.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencascade/vcpkg.json

@@ -0,0 +1,38 @@
+{
+  "name": "opencascade",
+  "version": "7.6.0",
+  "description": "Open CASCADE Technology (OCCT) is an open-source software development platform for 3D CAD, CAM, CAE.",
+  "homepage": "https://github.com/Open-Cascade-SAS/OCCT",
+  "supports": "!(uwp | osx | linux | arm)",
+  "dependencies": [
+    "freetype",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "features": {
+    "freeimage": {
+      "description": "Enable optional usage of freeimage",
+      "dependencies": [
+        "freeimage"
+      ]
+    },
+    "rapidjson": {
+      "description": "Enable optional usage of rapidjson",
+      "dependencies": [
+        "rapidjson"
+      ]
+    },
+    "tbb": {
+      "description": "Enable optional usage of tbb",
+      "dependencies": [
+        "tbb"
+      ]
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencc/portfile.cmake

@@ -0,0 +1,51 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO BYVoid/OpenCC
+    REF e8ec6d59f264a4a42e310148a9534a8cc0123928
+    SHA512 e6b3f6d681223b299795c324a48e82609abd1f411d3cbd5f9d8607284ec04717fa9878953d037c25a931a0857f50a5c0e883e0d44ddbea18c50830ad49514c59
+    HEAD_REF master
+)
+
+vcpkg_find_acquire_program(PYTHON3)
+get_filename_component(PYTHON3_DIR ${PYTHON3} DIRECTORY)
+vcpkg_add_to_path(${PYTHON3_DIR})
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    OPTIONS
+        -DBUILD_DOCUMENTATION=OFF
+        -DENABLE_GTEST=OFF
+)
+
+vcpkg_install_cmake(
+    DISABLE_PARALLEL
+)
+
+vcpkg_copy_pdbs()
+
+if(tools IN_LIST FEATURES)
+    foreach(opencc_tool opencc opencc_dict opencc_phrase_extract)
+        file(COPY
+            ${CURRENT_PACKAGES_DIR}/bin/${opencc_tool}${VCPKG_TARGET_EXECUTABLE_SUFFIX}
+            DESTINATION ${CURRENT_PACKAGES_DIR}/tools/${PORT}
+        )
+    endforeach()
+
+    vcpkg_copy_tool_dependencies(${CURRENT_PACKAGES_DIR}/tools/${PORT})
+endif()
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/bin ${CURRENT_PACKAGES_DIR}/debug/bin)
+else()
+    foreach(opencc_tool opencc opencc_dict opencc_phrase_extract)
+        file(REMOVE
+            ${CURRENT_PACKAGES_DIR}/bin/${opencc_tool}${VCPKG_TARGET_EXECUTABLE_SUFFIX}
+            ${CURRENT_PACKAGES_DIR}/debug/bin/${opencc_tool}${VCPKG_TARGET_EXECUTABLE_SUFFIX}
+        )
+    endforeach()
+endif()
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include ${CURRENT_PACKAGES_DIR}/debug/share)
+
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+vcpkg_fixup_pkgconfig()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencc/vcpkg.json

@@ -0,0 +1,13 @@
+{
+  "name": "opencc",
+  "version-date": "2020-04-26",
+  "port-version": 10,
+  "description": "A project for conversion between Traditional and Simplified Chinese",
+  "homepage": "https://github.com/BYVoid/OpenCC",
+  "supports": "!(arm | uwp)",
+  "features": {
+    "tools": {
+      "description": "Build OpenCC command-line tools"
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencensus-cpp/fix-install.patch

@@ -0,0 +1,204 @@
+diff --git a/cmake/OpenCensusHelpers.cmake b/cmake/OpenCensusHelpers.cmake
+index 8fdfe96..53bc877 100644
+--- a/cmake/OpenCensusHelpers.cmake
++++ b/cmake/OpenCensusHelpers.cmake
+@@ -37,6 +37,13 @@ function(opencensus_test NAME SRC)
+     prepend_opencensus(DEPS "${ARGN}")
+     target_link_libraries(${_NAME} "${DEPS}" gmock gtest_main)
+     add_test(NAME ${_NAME} COMMAND ${_NAME})
++
++    install(
++      TARGETS ${_NAME}
++      RUNTIME DESTINATION tools
++      LIBRARY DESTINATION lib
++      ARCHIVE DESTINATION lib
++    )
+   endif()
+ endfunction()
+ 
+@@ -50,6 +57,13 @@ function(opencensus_benchmark NAME SRC)
+     add_executable(${_NAME} ${SRC})
+     prepend_opencensus(DEPS "${ARGN}")
+     target_link_libraries(${_NAME} "${DEPS}" benchmark)
++
++    install(
++      TARGETS ${_NAME}
++      RUNTIME DESTINATION tools
++      LIBRARY DESTINATION lib
++      ARCHIVE DESTINATION lib
++    )
+   endif()
+ endfunction()
+ 
+@@ -71,6 +85,12 @@ function(opencensus_lib NAME)
+   if(ARG_PUBLIC)
+     add_library(${PROJECT_NAME}::${NAME} ALIAS ${_NAME})
+   endif()
++  install(
++    TARGETS ${_NAME}
++    RUNTIME DESTINATION bin
++    LIBRARY DESTINATION lib
++    ARCHIVE DESTINATION lib
++  )
+ endfunction()
+ 
+ # Helper function for fuzzing. Usage:
+@@ -83,5 +103,12 @@ function(opencensus_fuzzer NAME SRC)
+     prepend_opencensus(DEPS "${ARGN}")
+     target_link_libraries(${_NAME} "${DEPS}" ${FUZZER})
+     target_compile_options(${_NAME} PRIVATE ${FUZZER})
++
++    install(
++      TARGETS ${_NAME}
++      RUNTIME DESTINATION tools
++      LIBRARY DESTINATION lib
++      ARCHIVE DESTINATION lib
++    )
+   endif()
+ endfunction()
+diff --git a/examples/helloworld/CMakeLists.txt b/examples/helloworld/CMakeLists.txt
+index 86cc1f4..cbbcb29 100644
+--- a/examples/helloworld/CMakeLists.txt
++++ b/examples/helloworld/CMakeLists.txt
+@@ -23,3 +23,10 @@ target_link_libraries(
+   opencensus-cpp::stats
+   opencensus-cpp::trace
+   Threads::Threads)
++
++install(
++  TARGETS opencensus_examples_helloworld
++  RUNTIME DESTINATION tools
++  LIBRARY DESTINATION lib
++  ARCHIVE DESTINATION lib
++)
+diff --git a/opencensus/common/internal/CMakeLists.txt b/opencensus/common/internal/CMakeLists.txt
+index a9dbd87..810a8c8 100644
+--- a/opencensus/common/internal/CMakeLists.txt
++++ b/opencensus/common/internal/CMakeLists.txt
+@@ -23,6 +23,12 @@ opencensus_lib(
+   absl::synchronization
+   absl::time)
+ 
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/common/internal)
++
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/grpc/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/common/internal/grpc)
++
+ opencensus_lib(common_stats_object DEPS absl::time)
+ 
+ # Define NOMINMAX to fix build errors when compiling with MSVC.
+diff --git a/opencensus/context/CMakeLists.txt b/opencensus/context/CMakeLists.txt
+index 149958c..2474a66 100644
+--- a/opencensus/context/CMakeLists.txt
++++ b/opencensus/context/CMakeLists.txt
+@@ -22,6 +22,9 @@ opencensus_lib(
+   tags
+   trace)
+ 
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/context)
++
+ opencensus_test(
+   context_context_test
+   internal/context_test.cc
+diff --git a/opencensus/exporters/stats/prometheus/CMakeLists.txt b/opencensus/exporters/stats/prometheus/CMakeLists.txt
+index 01038cc..0ad712b 100644
+--- a/opencensus/exporters/stats/prometheus/CMakeLists.txt
++++ b/opencensus/exporters/stats/prometheus/CMakeLists.txt
+@@ -21,6 +21,12 @@ opencensus_lib(
+   exporters_stats_prometheus_utils
+   stats)
+ 
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/exporters/stats/prometheus)
++
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/internal/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/exporters/stats/prometheus/internal)
++
+ opencensus_lib(
+   exporters_stats_prometheus_utils
+   SRCS
+diff --git a/opencensus/exporters/stats/stdout/CMakeLists.txt b/opencensus/exporters/stats/stdout/CMakeLists.txt
+index 5278e65..2930817 100644
+--- a/opencensus/exporters/stats/stdout/CMakeLists.txt
++++ b/opencensus/exporters/stats/stdout/CMakeLists.txt
+@@ -23,5 +23,8 @@ opencensus_lib(
+   absl::strings
+   absl::time)
+ 
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/exporters/stats/stdout)
++
+ opencensus_test(exporters_stats_stdout_test internal/stdout_exporter_test.cc
+                 exporters_stats_stdout stats stats_test_utils absl::time)
+diff --git a/opencensus/exporters/trace/stdout/CMakeLists.txt b/opencensus/exporters/trace/stdout/CMakeLists.txt
+index c7c580f..d9befa1 100644
+--- a/opencensus/exporters/trace/stdout/CMakeLists.txt
++++ b/opencensus/exporters/trace/stdout/CMakeLists.txt
+@@ -22,5 +22,8 @@ opencensus_lib(
+   absl::base
+   absl::memory)
+ 
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/exporters/trace/stdout)
++
+ opencensus_test(exporters_trace_stdout_test internal/stdout_exporter_test.cc
+                 exporters_trace_stdout trace absl::time)
+diff --git a/opencensus/stats/CMakeLists.txt b/opencensus/stats/CMakeLists.txt
+index 9b0d7af..a8a9d50 100644
+--- a/opencensus/stats/CMakeLists.txt
++++ b/opencensus/stats/CMakeLists.txt
+@@ -71,6 +71,12 @@ opencensus_lib(
+   absl::strings
+   absl::time)
+ 
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/stats)
++
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/internal/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/stats/internal)
++
+ # ----------------------------------------------------------------------
+ # Tests
+ # ----------------------------------------------------------------------
+diff --git a/opencensus/tags/CMakeLists.txt b/opencensus/tags/CMakeLists.txt
+index 7219a2a..97a0de1 100644
+--- a/opencensus/tags/CMakeLists.txt
++++ b/opencensus/tags/CMakeLists.txt
+@@ -53,6 +53,12 @@ opencensus_lib(
+   context
+   absl::strings)
+ 
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/tags)
++
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/propagation/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/tags/propagation)
++
+ opencensus_test(tags_context_util_test internal/context_util_test.cc tags
+                 tags_context_util tags_with_tag_map context)
+ 
+diff --git a/opencensus/trace/CMakeLists.txt b/opencensus/trace/CMakeLists.txt
+index 2c4e656..25d7241 100644
+--- a/opencensus/trace/CMakeLists.txt
++++ b/opencensus/trace/CMakeLists.txt
+@@ -122,6 +122,18 @@ opencensus_lib(
+   trace
+   context)
+ 
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/trace)
++
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/exporter/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/trace/exporter)
++
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/internal/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/trace/internal)
++
++file(GLOB HDRS ${CMAKE_CURRENT_LIST_DIR}/propagation/*.h)
++install(FILES ${HDRS} DESTINATION include/opencensus-cpp/opencensus/trace/propagation)
++
+ # ----------------------------------------------------------------------
+ # Tests
+ # ----------------------------------------------------------------------

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencensus-cpp/portfile.cmake

@@ -0,0 +1,26 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO census-instrumentation/opencensus-cpp
+    REF 62d8281899a1cfd1084793f64295329a6b5d22b3 # 2021-08-26
+    SHA512 35df40d7e5ce933384fe6ba4ac2d704e0801ac47765fca97ea3f8d787886abe5c588855c3aac5745f047c1c8f2047e1f69b62340dd702042a61c3dc430ca36b4
+    HEAD_REF master
+    PATCHES fix-install.patch
+)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        test BUILD_TESTING
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH ${SOURCE_PATH}
+    OPTIONS ${FEATURE_OPTIONS}
+)
+
+vcpkg_cmake_install()
+
+vcpkg_copy_pdbs()
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencensus-cpp/vcpkg.json

@@ -0,0 +1,23 @@
+{
+  "name": "opencensus-cpp",
+  "version-date": "2021-08-26",
+  "description": "OpenCensus is a toolkit for collecting application performance and behavior data. It currently includes an API for tracing and stats.",
+  "homepage": "https://github.com/census-instrumentation/opencensus-cpp",
+  "supports": "!windows",
+  "dependencies": [
+    "abseil",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "features": {
+    "test": {
+      "description": "Build test"
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencl/0001-include-unistd-for-gete-ug-id.patch

@@ -0,0 +1,27 @@
+From 0f783f1a8eac7a78bc92198e140d4a5c745382ca Mon Sep 17 00:00:00 2001
+From: Nicole Mazzuca <[email protected]>
+Date: Wed, 23 Sep 2020 11:50:21 -0700
+Subject: [PATCH] include unistd for gete?[ug]id
+
+---
+ loader/linux/icd_linux_envvars.c | 4 ++++
+ 1 file changed, 4 insertions(+)
+
+diff --git a/loader/linux/icd_linux_envvars.c b/loader/linux/icd_linux_envvars.c
+index 4af5a08..92b0698 100644
+--- a/loader/linux/icd_linux_envvars.c
++++ b/loader/linux/icd_linux_envvars.c
+@@ -25,6 +25,10 @@
+ 
+ #include <stdlib.h>
+ 
++#if defined(__APPLE__)
++#include <unistd.h>
++#endif
++
+ char *khrIcd_getenv(const char *name) {
+     // No allocation of memory necessary for Linux.
+     return getenv(name);
+-- 
+2.24.3 (Apple Git-128)
+

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencl/portfile.cmake

@@ -0,0 +1,105 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO KhronosGroup/OpenCL-Headers
+    REF 0d5f18c6e7196863bc1557a693f1509adfcee056
+    SHA512 7e8fa6c8e73c660d8e9e31ddea3bfef887ed827fc21a1da559bde9dd4af6c52a91f609401bb718528b5c96d21e4c01aee7b8027bdf3dec4b0aa326270788a4b0
+    HEAD_REF master
+)
+
+file(INSTALL "${SOURCE_PATH}/CL" DESTINATION ${CURRENT_PACKAGES_DIR}/include)
+
+# OpenCL C++ headers
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO KhronosGroup/OpenCL-CLHPP
+    REF d62a02090625655e5b2d791d6a58618b043c989c
+    SHA512 837bbe914931d2f18a468f21634dbd4d088eda0a2f22eea23304c0323b9ee064c3ee76db7ebf28ba67fbe07c44129241f8dca62512d89bc7a6b35c2b4b316ed7
+    HEAD_REF master
+)
+
+vcpkg_find_acquire_program(PYTHON3)
+
+vcpkg_execute_required_process(
+    COMMAND "${PYTHON3}" "${SOURCE_PATH}/gen_cl_hpp.py"
+        -i ${SOURCE_PATH}/input_cl.hpp
+        -o ${CURRENT_PACKAGES_DIR}/include/CL/cl.hpp
+    WORKING_DIRECTORY ${SOURCE_PATH}
+    LOGNAME generate_clhpp-${TARGET_TRIPLET}
+)
+
+vcpkg_execute_required_process(
+    COMMAND "${PYTHON3}" "${SOURCE_PATH}/gen_cl_hpp.py"
+        -i ${SOURCE_PATH}/input_cl2.hpp
+        -o ${CURRENT_PACKAGES_DIR}/include/CL/cl2.hpp
+    WORKING_DIRECTORY ${SOURCE_PATH}
+    LOGNAME generate_cl2hpp-${TARGET_TRIPLET}
+)
+message(STATUS "Generating OpenCL C++ headers done")
+
+# OpenCL ICD loader
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO KhronosGroup/OpenCL-ICD-Loader
+    REF e6e30ab9c7a61c171cf68d2e7f5c0ce28e2a4eae
+    SHA512 f3563c0a4c094d3795d8386ec0db41189d350ab8136d80ae5de611ee3db87fbb0ab851bad2b33e111eddf135add5dbfef77d96979473ca5a23c036608d443378
+    HEAD_REF master
+    PATCHES
+        0001-include-unistd-for-gete-ug-id.patch
+)
+
+string(COMPARE EQUAL ${VCPKG_CRT_LINKAGE} dynamic USE_DYNAMIC_VCXX_RUNTIME)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS
+        -DOPENCL_ICD_LOADER_HEADERS_DIR=${CURRENT_PACKAGES_DIR}/include
+        -DOPENCL_ICD_LOADER_REQUIRE_WDK=OFF
+        -DUSE_DYNAMIC_VCXX_RUNTIME=${USE_DYNAMIC_VCXX_RUNTIME}
+)
+
+vcpkg_build_cmake(TARGET OpenCL)
+
+if (VCPKG_LIBRARY_LINKAGE STREQUAL static)
+  if (NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+    file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel/${VCPKG_TARGET_STATIC_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_STATIC_LIBRARY_SUFFIX}" DESTINATION ${CURRENT_PACKAGES_DIR}/lib)
+  endif()
+  if (NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+    file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg/${VCPKG_TARGET_STATIC_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_STATIC_LIBRARY_SUFFIX}" DESTINATION ${CURRENT_PACKAGES_DIR}/debug/lib)
+  endif()
+else()
+  if(VCPKG_TARGET_IS_WINDOWS)
+    if (NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+      file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel/${VCPKG_TARGET_SHARED_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_IMPORT_LIBRARY_SUFFIX}" DESTINATION ${CURRENT_PACKAGES_DIR}/lib)
+      file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel/${VCPKG_TARGET_SHARED_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_SHARED_LIBRARY_SUFFIX}" DESTINATION ${CURRENT_PACKAGES_DIR}/bin)
+    endif()
+    if (NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+      file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg/${VCPKG_TARGET_SHARED_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_IMPORT_LIBRARY_SUFFIX}" DESTINATION ${CURRENT_PACKAGES_DIR}/debug/lib)
+      file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg/${VCPKG_TARGET_SHARED_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_SHARED_LIBRARY_SUFFIX}" DESTINATION ${CURRENT_PACKAGES_DIR}/debug/bin)
+    endif()
+  elseif(VCPKG_TARGET_IS_LINUX)
+    if (NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+      file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel/${VCPKG_TARGET_SHARED_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_SHARED_LIBRARY_SUFFIX}" DESTINATION ${CURRENT_PACKAGES_DIR}/lib)
+      file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel/${VCPKG_TARGET_SHARED_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_SHARED_LIBRARY_SUFFIX}.1" DESTINATION ${CURRENT_PACKAGES_DIR}/lib)
+      file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel/${VCPKG_TARGET_SHARED_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_SHARED_LIBRARY_SUFFIX}.1.2" DESTINATION ${CURRENT_PACKAGES_DIR}/lib)
+    endif()
+    if (NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+      file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg/${VCPKG_TARGET_SHARED_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_SHARED_LIBRARY_SUFFIX}" DESTINATION ${CURRENT_PACKAGES_DIR}/debug/lib)
+      file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg/${VCPKG_TARGET_SHARED_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_SHARED_LIBRARY_SUFFIX}.1" DESTINATION ${CURRENT_PACKAGES_DIR}/debug/lib)
+      file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg/${VCPKG_TARGET_SHARED_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_SHARED_LIBRARY_SUFFIX}.1.2" DESTINATION ${CURRENT_PACKAGES_DIR}/debug/lib)
+    endif()
+  elseif(VCPKG_TARGET_IS_OSX)
+    if (NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+      file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel/lib/${VCPKG_TARGET_SHARED_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_SHARED_LIBRARY_SUFFIX}" DESTINATION ${CURRENT_PACKAGES_DIR}/lib)
+    endif()
+    if (NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+      file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg/lib/${VCPKG_TARGET_SHARED_LIBRARY_PREFIX}OpenCL${VCPKG_TARGET_SHARED_LIBRARY_SUFFIX}" DESTINATION ${CURRENT_PACKAGES_DIR}/debug/lib)
+    endif()
+  endif()
+endif()
+
+vcpkg_copy_pdbs()
+
+file(COPY ${CMAKE_CURRENT_LIST_DIR}/usage DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT})
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+file(COPY ${CMAKE_CURRENT_LIST_DIR}/vcpkg-cmake-wrapper.cmake DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT})

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencl/usage

@@ -0,0 +1,16 @@
+The package opencl is compatible with built-in CMake targets via CMake v3.6 and prior syntax
+
+    find_package(OpenCL REQUIRED)
+    target_link_libraries(main PRIVATE ${OpenCL_LIBRARIES})
+    target_include_directories(main PRIVATE ${OpenCL_INCLUDE_DIRS})
+
+and the CMake v3.7 and beyond imported target syntax
+
+    find_package(OpenCL REQUIRED)
+    target_link_libraries(main PRIVATE OpenCL::OpenCL)
+
+This package is only an OpenCL SDK. To actually run OpenCL code you also need to install an implementation.
+
+    WINDOWS: implementations typically ship with the drivers of you CPU/GPU vendors.
+    LINUX: implementations may be installed from your distro's repo or manually. There are too many to count.
+    APPLE: consult your distribution vendor on the state of OpenCL support: https://support.apple.com/en-us/HT202823

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencl/vcpkg-cmake-wrapper.cmake

@@ -0,0 +1,18 @@
+_find_package(${ARGS})
+if(NOT BUILD_SHARED_LIBS AND (NOT CMAKE_SYSTEM_NAME MATCHES "Darwin"))
+  find_package(Threads REQUIRED)
+  set(OpenCL_Extra_Libs ${CMAKE_DL_LIBS} ${CMAKE_THREAD_LIBS_INIT})
+  if(CMAKE_SYSTEM_NAME MATCHES "Windows")
+    list(APPEND OpenCL_Extra_Libs cfgmgr32)
+	if($ENV{WindowsSDKVersion} MATCHES "^10")
+		list(APPEND OpenCL_Extra_Libs OneCoreUAP)
+	endif()
+  endif(CMAKE_SYSTEM_NAME MATCHES "Windows")
+
+  if(TARGET OpenCL::OpenCL)
+      set_property(TARGET OpenCL::OpenCL APPEND PROPERTY INTERFACE_LINK_LIBRARIES ${OpenCL_Extra_Libs})
+  endif()
+  if(OpenCL_LIBRARIES)
+      list(APPEND OpenCL_LIBRARIES ${OpenCL_Extra_Libs})
+  endif()
+endif()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencl/vcpkg.json

@@ -0,0 +1,8 @@
+{
+  "name": "opencl",
+  "version-string": "2.2",
+  "port-version": 8,
+  "description": "C/C++ headers and ICD loader (Installable Client Driver) for OpenCL",
+  "homepage": "https://github.com/KhronosGroup/OpenCL-Headers",
+  "supports": "!uwp"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencolorio/fix-buildTools.patch

@@ -0,0 +1,13 @@
+diff --git a/src/OpenColorIO/CMakeLists.txt b/src/OpenColorIO/CMakeLists.txt
+index b992bbc..804d3c5 100644
+--- a/src/OpenColorIO/CMakeLists.txt
++++ b/src/OpenColorIO/CMakeLists.txt
+@@ -248,7 +248,7 @@ if(NOT BUILD_SHARED_LIBS)
+ else()
+     # Only exports selected symbols.
+     target_compile_definitions(OpenColorIO
+-        PUBLIC
++        PRIVATE
+             OpenColorIO_EXPORTS
+     )
+ endif()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencolorio/fix-dependency.patch

@@ -0,0 +1,117 @@
+diff --git a/share/cmake/modules/FindExtPackages.cmake b/share/cmake/modules/FindExtPackages.cmake
+index 8787b87..f953ceb 100644
+--- a/share/cmake/modules/FindExtPackages.cmake
++++ b/share/cmake/modules/FindExtPackages.cmake
+@@ -26,15 +26,15 @@ set(CMAKE_FIND_PACKAGE_NO_SYSTEM_PACKAGE_REGISTRY ON CACHE BOOL
+ 
+ # expat
+ # https://github.com/libexpat/libexpat
+-find_package(expat 2.2.8 REQUIRED)
++find_package(expat CONFIG REQUIRED)
+ 
+ # yaml-cpp
+ # https://github.com/jbeder/yaml-cpp
+-find_package(yaml-cpp 0.6.3 REQUIRED)
++find_package(yaml-cpp CONFIG REQUIRED)
+ 
+ # pystring
+ # https://github.com/imageworks/pystring
+-find_package(pystring 1.1.3 REQUIRED)
++find_package(pystring CONFIG REQUIRED)
+ 
+ # Half
+ # NOTE: OCIO_USE_IMATH_HALF needs to be an integer for use in utils/Half.h.in
+@@ -42,7 +42,7 @@ if(NOT OCIO_USE_OPENEXR_HALF)
+ 
+     # Imath (>=3.0)
+     # https://github.com/AcademySoftwareFoundation/Imath
+-    find_package(Imath 3.1.2 REQUIRED)
++    find_package(Imath CONFIG REQUIRED)
+     
+     set(OCIO_HALF_LIB Imath::Imath CACHE STRING "Half library target" FORCE)
+     set(OCIO_USE_IMATH_HALF "1" CACHE STRING "Whether 'half' type will be sourced from the Imath library (>=v3.0)" FORCE)
+@@ -50,7 +50,7 @@ else()
+ 
+     # OpenEXR/IlmBase (<=2.5)
+     # https://github.com/AcademySoftwareFoundation/openexr
+-    find_package(Half 2.4.0 REQUIRED)
++    find_package(Half CONFIG REQUIRED)
+ 
+     set(OCIO_HALF_LIB IlmBase::Half CACHE STRING "Half library target" FORCE)
+     set(OCIO_USE_IMATH_HALF "0" CACHE STRING "Whether 'half' type will be sourced from the Imath library (>=v3.0)" FORCE)
+@@ -65,13 +65,13 @@ if(OCIO_BUILD_APPS)
+ 
+     # lcms2
+     # https://github.com/mm2/Little-CMS
+-    find_package(lcms2 2.2 REQUIRED)
++    find_package(lcms2 CONFIG REQUIRED)
+ endif()
+ 
+ if(OCIO_BUILD_OPENFX)
+     # openfx
+     # https://github.com/ofxa/openfx
+-    find_package(openfx 1.4 REQUIRED)
++    find_package(openfx CONFIG REQUIRED)
+ endif()
+ 
+ if (OCIO_PYTHON_VERSION AND NOT OCIO_BUILD_PYTHON)
+@@ -100,6 +100,6 @@ if(OCIO_BUILD_PYTHON OR OCIO_BUILD_DOCS)
+     if(OCIO_BUILD_PYTHON)
+         # pybind11
+         # https://github.com/pybind/pybind11
+-        find_package(pybind11 2.6.1 REQUIRED)
++        find_package(pybind11 CONFIG REQUIRED)
+     endif()
+ endif()
+diff --git a/src/OpenColorIO/CMakeLists.txt b/src/OpenColorIO/CMakeLists.txt
+index 034185d..b992bbc 100755
+--- a/src/OpenColorIO/CMakeLists.txt
++++ b/src/OpenColorIO/CMakeLists.txt
+@@ -226,9 +226,9 @@ target_link_libraries(OpenColorIO
+         expat::expat
+         ${OCIO_HALF_LIB}
+         pystring::pystring
+-        sampleicc::sampleicc
+-        utils::from_chars
+-        utils::strings
++        "$<BUILD_INTERFACE:sampleicc::sampleicc>"
++        "$<BUILD_INTERFACE:utils::from_chars>"
++        "$<BUILD_INTERFACE:utils::strings>"
+         yaml-cpp
+ )
+ 
+@@ -242,13 +242,13 @@ endif()
+ 
+ if(NOT BUILD_SHARED_LIBS)
+     target_compile_definitions(OpenColorIO
+-        PRIVATE
++        PUBLIC
+             OpenColorIO_SKIP_IMPORTS
+     )
+ else()
+     # Only exports selected symbols.
+     target_compile_definitions(OpenColorIO
+-        PRIVATE
++        PUBLIC
+             OpenColorIO_EXPORTS
+     )
+ endif()
+diff --git a/src/cmake/Config.cmake.in b/src/cmake/Config.cmake.in
+index eebb2c1..7147dc3 100644
+--- a/src/cmake/Config.cmake.in
++++ b/src/cmake/Config.cmake.in
+@@ -2,4 +2,14 @@
+ 
+ include(CMakeFindDependencyMacro)
+ 
++find_dependency(expat CONFIG REQUIRED)
++find_dependency(imath CONFIG REQUIRED)
++find_dependency(pystring CONFIG REQUIRED)
++find_dependency(yaml-cpp CONFIG REQUIRED)
++
++if(@OCIO_BUILD_APPS@)
++    find_dependency(lcms2 CONFIG REQUIRED)
++    find_dependency(GLEW)
++endif()
++
+ include(${CMAKE_CURRENT_LIST_DIR}/@[email protected])

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencolorio/portfile.cmake

@@ -0,0 +1,64 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO AcademySoftwareFoundation/OpenColorIO
+    REF v2.1.1
+    SHA512 86585ec860d460b158f24efb82f202deced7ce96a6bfefd42f39cad9c112add68cca6935f383f5d718c07fe1c121d8ed8b0d2069321f1dafb8ce68b49bc75194
+    HEAD_REF master
+    PATCHES
+        fix-dependency.patch
+        fix-buildTools.patch
+)
+
+file(REMOVE "${SOURCE_PATH}/share/cmake/modules/Findexpat.cmake")
+file(REMOVE "${SOURCE_PATH}/share/cmake/modules/FindImath.cmake")
+file(REMOVE "${SOURCE_PATH}/share/cmake/modules/Findpystring.cmake")
+file(REMOVE "${SOURCE_PATH}/share/cmake/modules/Findyaml-cpp.cmake")
+file(REMOVE "${SOURCE_PATH}/share/cmake/modules/Findlcms2.cmake")
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        tools OCIO_BUILD_APPS
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DOCIO_BUILD_NUKE:BOOL=OFF
+        -DOCIO_BUILD_DOCS:BOOL=OFF
+        -DOCIO_BUILD_TESTS:BOOL=OFF
+        -DOCIO_BUILD_GPU_TESTS:BOOL=OFF
+        -DOCIO_BUILD_PYTHON:BOOL=OFF
+        -DOCIO_BUILD_OPENFX:BOOL=OFF
+        -DOCIO_BUILD_JAVA:BOOL=OFF
+        -DOCIO_USE_OPENEXR_HALF:BOOL=OFF
+        -DOCIO_INSTALL_EXT_PACKAGES=NONE
+        -DCMAKE_DISABLE_FIND_PACKAGE_OpenImageIO=On
+        ${FEATURE_OPTIONS}
+)
+
+vcpkg_cmake_install()
+
+vcpkg_cmake_config_fixup(PACKAGE_NAME OpenColorIO CONFIG_PATH "lib/cmake/OpenColorIO")
+
+vcpkg_copy_pdbs()
+
+# Clean redundant files
+file(REMOVE_RECURSE
+    "${CURRENT_PACKAGES_DIR}/debug/include"
+    "${CURRENT_PACKAGES_DIR}/debug/share"
+    "${CURRENT_PACKAGES_DIR}/debug/OpenColorIOConfig.cmake"
+    "${CURRENT_PACKAGES_DIR}/OpenColorIOConfig.cmake"
+)
+if(OCIO_BUILD_APPS)
+    vcpkg_copy_tools(
+        TOOL_NAMES ociowrite ociomakeclf ociochecklut ociocheck ociobakelut
+        AUTO_CLEAN
+    )
+endif()
+
+vcpkg_fixup_pkgconfig()
+if(NOT VCPKG_TARGET_IS_WINDOWS)
+    vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/share/ocio/setup_ocio.sh" "${CURRENT_PACKAGES_DIR}" "`dirname $0`/../../")
+endif()
+
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencolorio/vcpkg.json

@@ -0,0 +1,32 @@
+{
+  "name": "opencolorio",
+  "version-semver": "2.1.1",
+  "port-version": 2,
+  "description": "OpenColorIO (OCIO) is a complete color management solution geared towards motion picture production with an emphasis on visual effects and computer animation. OCIO provides a straightforward and consistent user experience across all supporting applications while allowing for sophisticated back-end configuration options suitable for high-end production usage. OCIO is compatible with the Academy Color Encoding Specification (ACES) and is LUT-format agnostic, supporting many popular formats.",
+  "homepage": "https://opencolorio.org/",
+  "license": "BSD-3-Clause",
+  "supports": "!uwp",
+  "dependencies": [
+    "expat",
+    "imath",
+    "pystring",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    },
+    "yaml-cpp"
+  ],
+  "features": {
+    "tools": {
+      "description": "Installs tools",
+      "dependencies": [
+        "glew",
+        "lcms"
+      ]
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencsg/CMakeLists.txt

@@ -0,0 +1,46 @@
+cmake_minimum_required (VERSION 3.4)
+project (opencsg)
+
+set(HEADERS
+  include/opencsg.h
+)
+
+set(SRCS
+	src/area.cpp
+	src/batch.cpp
+	src/context.cpp
+	src/channelManager.cpp
+	src/frameBufferObject.cpp
+	src/frameBufferObjectExt.cpp
+	src/occlusionQuery.cpp
+	src/opencsgRender.cpp
+	src/openglHelper.cpp
+	src/primitive.cpp
+	src/primitiveHelper.cpp
+	src/renderGoldfeather.cpp
+	src/renderSCS.cpp
+	src/scissorMemo.cpp
+	src/settings.cpp
+	src/stencilManager.cpp
+	src/pBufferTexture.cpp
+	RenderTexture/RenderTexture.cpp
+)
+
+
+add_library(opencsg ${SRCS} ${HEADERS})
+
+include_directories(src include RenderTexture ".")
+find_package(GLEW REQUIRED)
+include_directories(${GLEW_INCLUDE_DIRS})
+target_link_libraries(opencsg PRIVATE GLEW::GLEW)
+
+install(
+  TARGETS opencsg
+  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+  LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+)
+
+if(NOT DISABLE_INSTALL_HEADERS)
+	install(FILES ${HEADERS} DESTINATION include/opencsg)
+endif()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencsg/illegal_char.patch

@@ -0,0 +1,13 @@
+diff --git a/include/opencsg.h b/include/opencsg.h
+index d753a0e..b482c40 100644
+--- a/include/opencsg.h
++++ b/include/opencsg.h
+@@ -156,7 +156,7 @@ namespace OpenCSG {
+     /// The DepthComplexityAlgorithm specifies the strategy for profiting
+     /// from depth complexity when performing the CSG rendering.
+     ///   - NoDepthComplexitySampling: Does not employ the depth complexity.
+-    ///                  This essentially makes the algorithm O(n�), but with
++    ///                  This essentially makes the algorithm O(n²), but with
+     ///                  low constant costs.
+     ///   - DepthComplexitySampling: Calculates the depth complexity k using
+     ///                  the stencil buffer. This makes algorithm O(n*k), but

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencsg/portfile.cmake

@@ -0,0 +1,24 @@
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO floriankirsch/OpenCSG
+    REF "opencsg-1-4-2-release"
+    SHA512 df117a1b7153a95332d236918d1547b0afe6f3ead46af2733c5feee6e25cec984b21affc41fd8320a45be9292bd3b32e21ed8bb3d08371ddd657f659b9bb932a
+    HEAD_REF master
+    PATCHES illegal_char.patch
+)
+
+file(COPY ${CMAKE_CURRENT_LIST_DIR}/CMakeLists.txt DESTINATION ${SOURCE_PATH})
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS -DUNICODE=1 -D_UNICODE=1
+    # OPTIONS_RELEASE -DOPTIMIZE=1
+    OPTIONS_DEBUG -DDISABLE_INSTALL_HEADERS=ON
+)
+
+vcpkg_install_cmake()
+
+file(INSTALL ${SOURCE_PATH}/license.txt DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencsg/vcpkg.json

@@ -0,0 +1,9 @@
+{
+  "name": "opencsg",
+  "version-string": "1.4.2",
+  "port-version": 2,
+  "description": "OpenCSG is a library that does image-based CSG rendering using OpenGL. OpenCSG is written in C++ and supports most modern graphics hardware using Microsoft Windows or the Linux operating system.",
+  "dependencies": [
+    "glew"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv/portfile.cmake

@@ -0,0 +1 @@
+SET(VCPKG_POLICY_EMPTY_PACKAGE enabled)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv/vcpkg.json

@@ -0,0 +1,414 @@
+{
+  "name": "opencv",
+  "version": "4.5.5",
+  "description": "Computer vision library",
+  "homepage": "https://github.com/opencv/opencv",
+  "dependencies": [
+    {
+      "name": "opencv4",
+      "default-features": false
+    }
+  ],
+  "default-features": [
+    "default-features"
+  ],
+  "features": {
+    "ade": {
+      "description": "graph api",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "ade"
+          ]
+        }
+      ]
+    },
+    "contrib": {
+      "description": "opencv_contrib module",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "contrib"
+          ]
+        }
+      ]
+    },
+    "cuda": {
+      "description": "CUDA support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "cuda"
+          ]
+        }
+      ]
+    },
+    "cudnn": {
+      "description": "cuDNN support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "cudnn"
+          ]
+        }
+      ]
+    },
+    "default-features": {
+      "description": "Platform-dependent default features",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "dnn",
+            "jpeg",
+            "png",
+            "quirc",
+            "tiff",
+            "webp"
+          ]
+        },
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "gtk"
+          ],
+          "platform": "linux"
+        }
+      ]
+    },
+    "dnn": {
+      "description": "Enable dnn module",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "dnn"
+          ]
+        }
+      ]
+    },
+    "eigen": {
+      "description": "Eigen support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "eigen"
+          ]
+        }
+      ]
+    },
+    "ffmpeg": {
+      "description": "ffmpeg support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "ffmpeg"
+          ]
+        }
+      ]
+    },
+    "freetype": {
+      "description": "freetype support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "freetype"
+          ]
+        }
+      ]
+    },
+    "gdcm": {
+      "description": "GDCM support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "gdcm"
+          ]
+        }
+      ]
+    },
+    "gstreamer": {
+      "description": "gstreamer support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "gstreamer"
+          ]
+        }
+      ]
+    },
+    "gtk": {
+      "description": "GTK support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "gtk"
+          ]
+        }
+      ]
+    },
+    "halide": {
+      "description": "Halide support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "halide"
+          ]
+        }
+      ]
+    },
+    "ipp": {
+      "description": "Enable Intel Integrated Performance Primitives",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "ipp"
+          ]
+        }
+      ]
+    },
+    "jasper": {
+      "description": "JPEG 2000 support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "jasper"
+          ]
+        }
+      ]
+    },
+    "jpeg": {
+      "description": "JPEG support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "jpeg"
+          ]
+        }
+      ]
+    },
+    "lapack": {
+      "description": "LAPACK support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "lapack"
+          ]
+        }
+      ]
+    },
+    "nonfree": {
+      "description": "opencv nonfree module",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "nonfree"
+          ]
+        }
+      ]
+    },
+    "openexr": {
+      "description": "OpenEXR support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "openexr"
+          ]
+        }
+      ]
+    },
+    "opengl": {
+      "description": "opengl support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "opengl"
+          ]
+        }
+      ]
+    },
+    "openmp": {
+      "description": "Enable openmp support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "openmp"
+          ]
+        }
+      ]
+    },
+    "ovis": {
+      "description": "opencv_ovis module",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "ovis"
+          ]
+        }
+      ]
+    },
+    "png": {
+      "description": "PNG support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "png"
+          ]
+        }
+      ]
+    },
+    "python": {
+      "description": "Python wrapper support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "python"
+          ]
+        }
+      ]
+    },
+    "qt": {
+      "description": "Qt GUI support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "qt"
+          ]
+        }
+      ]
+    },
+    "quirc": {
+      "description": "Enable QR code module",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "quirc"
+          ]
+        }
+      ]
+    },
+    "sfm": {
+      "description": "opencv_sfm module",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "sfm"
+          ]
+        }
+      ]
+    },
+    "tbb": {
+      "description": "Enable Intel Threading Building Blocks",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "tbb"
+          ]
+        }
+      ]
+    },
+    "tiff": {
+      "description": "TIFF support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "tiff"
+          ]
+        }
+      ]
+    },
+    "vtk": {
+      "description": "vtk support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "vtk"
+          ]
+        }
+      ]
+    },
+    "webp": {
+      "description": "WebP support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "webp"
+          ]
+        }
+      ]
+    },
+    "world": {
+      "description": "Compile to a single package support for opencv",
+      "dependencies": [
+        {
+          "name": "opencv4",
+          "default-features": false,
+          "features": [
+            "world"
+          ]
+        }
+      ]
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv2/0002-install-options.patch

@@ -0,0 +1,344 @@
+--- a/3rdparty/libtiff/CMakeLists.txt
++++ b/3rdparty/libtiff/CMakeLists.txt
+@@ -102,7 +102,7 @@ if(UNIX AND (CMAKE_COMPILER_IS_GNUCXX OR CV_ICC))
+ endif()
+ 
+ add_library(${TIFF_LIBRARY} STATIC ${lib_srcs})
+-target_link_libraries(${TIFF_LIBRARY} ${ZLIB_LIBRARIES})
++target_link_libraries(${TIFF_LIBRARY} ZLIB::ZLIB)
+ 
+ set_target_properties(${TIFF_LIBRARY}
+     PROPERTIES
+--- a/3rdparty/openexr/CMakeLists.txt
++++ b/3rdparty/openexr/CMakeLists.txt
+@@ -55,7 +55,7 @@ if(MSVC AND CV_ICC)
+ endif()
+ 
+ add_library(IlmImf STATIC ${lib_hdrs} ${lib_srcs})
+-target_link_libraries(IlmImf ${ZLIB_LIBRARIES})
++target_link_libraries(IlmImf ZLIB::ZLIB)
+ 
+ set_target_properties(IlmImf
+     PROPERTIES
+--- a/3rdparty/tbb/CMakeLists.txt
++++ b/3rdparty/tbb/CMakeLists.txt
+@@ -116,7 +116,7 @@ endif()
+ 
+ if(NOT EXISTS "${tbb_tarball}")
+   message(STATUS "Downloading ${tbb_ver}_src.tgz")
+-  file(DOWNLOAD "${tbb_url}" "${tbb_tarball}" TIMEOUT 600 STATUS __statvar)
++  message(FATAL_ERROR "    Downloads are not permitted during configure. Please pre-download the file \"${CACHE_CANDIDATE}\":\n    \n    vcpkg_download_distfile(OCV_DOWNLOAD\n        URLS \"${tbb_url}\"\n        FILENAME \"${tbb_tarball}\"\n        SHA512 0\n    )")
+   if(NOT __statvar EQUAL 0)
+     message(FATAL_ERROR "Failed to download TBB sources (${__statvar}): ${tbb_url}")
+   endif()
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -275,23 +275,10 @@ if (ANDROID)
+ endif()
+ 
+ if(NOT DEFINED OPENCV_DOC_INSTALL_PATH)
+-  if(ANDROID OR WIN32)
+-    set(OPENCV_DOC_INSTALL_PATH doc)
+-  elseif(INSTALL_TO_MANGLED_PATHS)
+-    set(OPENCV_DOC_INSTALL_PATH share/OpenCV-${OPENCV_VERSION}/doc)
+-  else()
+-    set(OPENCV_DOC_INSTALL_PATH share/OpenCV/doc)
+-  endif()
++    set(OPENCV_DOC_INSTALL_PATH share/opencv/doc)
+ endif()
+ 
+-if(WIN32)
+-  if(DEFINED OpenCV_RUNTIME AND DEFINED OpenCV_ARCH)
+-    set(OpenCV_INSTALL_BINARIES_PREFIX "${OpenCV_ARCH}/${OpenCV_RUNTIME}/")
+-  else()
+-    message(STATUS "Can't detect runtime and/or arch")
+-    set(OpenCV_INSTALL_BINARIES_PREFIX "")
+-  endif()
+-elseif(ANDROID)
++if(ANDROID)
+   set(OpenCV_INSTALL_BINARIES_PREFIX "sdk/native/")
+ else()
+   set(OpenCV_INSTALL_BINARIES_PREFIX "")
+@@ -322,29 +309,13 @@ if(ANDROID)
+   set(OPENCV_INCLUDE_INSTALL_PATH sdk/native/jni/include)
+   set(OPENCV_SAMPLES_SRC_INSTALL_PATH samples/native)
+ else()
+-  set(LIBRARY_OUTPUT_PATH         "${OpenCV_BINARY_DIR}/lib")
+-  set(3P_LIBRARY_OUTPUT_PATH      "${OpenCV_BINARY_DIR}/3rdparty/lib${LIB_SUFFIX}")
+-  if(WIN32)
+-    if(OpenCV_STATIC)
+-      set(OPENCV_LIB_INSTALL_PATH   "${OpenCV_INSTALL_BINARIES_PREFIX}staticlib${LIB_SUFFIX}")
+-    else()
+-      set(OPENCV_LIB_INSTALL_PATH   "${OpenCV_INSTALL_BINARIES_PREFIX}lib${LIB_SUFFIX}")
+-    endif()
+-    set(OPENCV_3P_LIB_INSTALL_PATH  "${OpenCV_INSTALL_BINARIES_PREFIX}staticlib${LIB_SUFFIX}")
+-    set(OPENCV_SAMPLES_SRC_INSTALL_PATH    samples/native)
+-  else()
+-    set(OPENCV_LIB_INSTALL_PATH     lib${LIB_SUFFIX})
+-    set(OPENCV_3P_LIB_INSTALL_PATH  share/OpenCV/3rdparty/${OPENCV_LIB_INSTALL_PATH})
+-    set(OPENCV_SAMPLES_SRC_INSTALL_PATH    share/OpenCV/samples)
+-  endif()
+-  set(OPENCV_INCLUDE_INSTALL_PATH "include")
+-
+-  math(EXPR SIZEOF_VOID_P_BITS "8 * ${CMAKE_SIZEOF_VOID_P}")
+-  if(LIB_SUFFIX AND NOT SIZEOF_VOID_P_BITS EQUAL LIB_SUFFIX)
+-    set(OPENCV_CONFIG_INSTALL_PATH lib${LIB_SUFFIX}/cmake/opencv)
+-  else()
+-    set(OPENCV_CONFIG_INSTALL_PATH share/OpenCV)
+-  endif()
++  set(LIBRARY_OUTPUT_PATH                "${OpenCV_BINARY_DIR}/lib")
++  set(3P_LIBRARY_OUTPUT_PATH             "${LIBRARY_OUTPUT_PATH}")
++  set(OPENCV_LIB_INSTALL_PATH            "${OpenCV_INSTALL_BINARIES_PREFIX}lib")
++  set(OPENCV_3P_LIB_INSTALL_PATH         "${OPENCV_LIB_INSTALL_PATH}")
++  set(OPENCV_SAMPLES_SRC_INSTALL_PATH    "share/opencv/samples")
++  set(OPENCV_INCLUDE_INSTALL_PATH        "include")
++  set(OPENCV_CONFIG_INSTALL_PATH         "share/opencv")
+ endif()
+ 
+ set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/${OPENCV_LIB_INSTALL_PATH}")
+@@ -356,7 +327,7 @@ endif()
+ 
+ if(WIN32)
+   # Postfix of DLLs:
+-  set(OPENCV_DLLVERSION "${OPENCV_VERSION_MAJOR}${OPENCV_VERSION_MINOR}${OPENCV_VERSION_PATCH}")
++  set(OPENCV_DLLVERSION "")
+   set(OPENCV_DEBUG_POSTFIX d)
+ else()
+   # Postfix of so's:
+@@ -397,8 +368,6 @@ if(CMAKE_HOST_WIN32)
+   endif()
+ endif()
+ 
+-find_host_program(GIT_EXECUTABLE NAMES ${git_names} PATH_SUFFIXES Git/cmd Git/bin DOC "git command line client")
+-mark_as_advanced(GIT_EXECUTABLE)
+ 
+ if(GIT_EXECUTABLE)
+   execute_process(COMMAND ${GIT_EXECUTABLE} describe --tags --always --dirty --match "2.[0-9].[0-9]*"
+@@ -501,7 +470,9 @@ if(BUILD_DOCS)
+ endif(BUILD_DOCS)
+ 
+ # --- Python Support ---
+-include(cmake/OpenCVDetectPython.cmake)
++if(WITH_PYTHON)
++  include(cmake/OpenCVDetectPython.cmake)
++endif()
+ 
+ # --- Java Support ---
+ include(cmake/OpenCVDetectApacheAnt.cmake)
+@@ -885,11 +853,7 @@ if(ANDROID)
+ endif()
+ 
+ if(DEFINED WITH_FFMPEG OR HAVE_FFMPEG)
+-  if(WIN32)
+-    status("    FFMPEG:"       WITH_FFMPEG         THEN "YES (prebuilt binaries)"                  ELSE NO)
+-  else()
+     status("    FFMPEG:"       HAVE_FFMPEG         THEN YES ELSE NO)
+-  endif()
+   status("      avcodec:"      FFMPEG_libavcodec_FOUND    THEN "YES (ver ${FFMPEG_libavcodec_VERSION})"    ELSE NO)
+   status("      avformat:"     FFMPEG_libavformat_FOUND   THEN "YES (ver ${FFMPEG_libavformat_VERSION})"   ELSE NO)
+   status("      avutil:"       FFMPEG_libavutil_FOUND     THEN "YES (ver ${FFMPEG_libavutil_VERSION})"     ELSE NO)
+diff --git a/cmake/OpenCVCompilerOptions.cmake b/cmake/OpenCVCompilerOptions.cmake
+index e61059a..ec6f34f 100644
+--- a/cmake/OpenCVCompilerOptions.cmake
++++ b/cmake/OpenCVCompilerOptions.cmake
+@@ -269,7 +269,6 @@ if(MSVC)
+     set(OPENCV_EXTRA_FLAGS "${OPENCV_EXTRA_FLAGS} /bigobj")
+   endif()
+   if(BUILD_WITH_DEBUG_INFO)
+-    set(OPENCV_EXTRA_FLAGS_RELEASE "${OPENCV_EXTRA_FLAGS_RELEASE} /Zi")
+   endif()
+ 
+   if(ENABLE_SSE4_1 AND CV_ICC AND NOT OPENCV_EXTRA_FLAGS MATCHES "/arch:")
+diff --git a/cmake/OpenCVFindLibsVideo.cmake b/cmake/OpenCVFindLibsVideo.cmake
+index 146043f..1202225 100644
+--- a/cmake/OpenCVFindLibsVideo.cmake
++++ b/cmake/OpenCVFindLibsVideo.cmake
+@@ -185,12 +185,8 @@ endif(WITH_XIMEA)
+ # --- FFMPEG ---
+ ocv_clear_vars(HAVE_FFMPEG)
+ if(WITH_FFMPEG)
+-  if(WIN32 AND NOT ARM)
+-    include("${OpenCV_SOURCE_DIR}/3rdparty/ffmpeg/ffmpeg_version.cmake")
++    find_package(FFMPEG REQUIRED)
+     set(HAVE_FFMPEG TRUE)
+-  elseif(PKG_CONFIG_FOUND)
+-    ocv_check_modules(FFMPEG libavcodec libavformat libavutil libswscale)
+-    ocv_check_modules(FFMPEG_libavresample libavresample)
+     if(FFMPEG_libavresample_FOUND)
+       ocv_append_build_options(FFMPEG FFMPEG_libavresample)
+     endif()
+@@ -211,9 +207,6 @@ if(WITH_FFMPEG)
+         ocv_append_build_options(HIGHGUI FFMPEG)
+       endif()
+     endif()
+-  else()
+-    message(STATUS "Can't find ffmpeg - 'pkg-config' utility is missing")
+-  endif()
+ endif(WITH_FFMPEG)
+ 
+ # --- VideoInput/DirectShow ---
+--- a/cmake/OpenCVGenConfig.cmake
++++ b/cmake/OpenCVGenConfig.cmake
+@@ -101,7 +101,7 @@ endif()
+ configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig.cmake.in" "${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig.cmake" @ONLY)
+ configure_file("${OpenCV_SOURCE_DIR}/cmake/templates/OpenCVConfig-version.cmake.in" "${CMAKE_BINARY_DIR}/unix-install/OpenCVConfig-version.cmake" @ONLY)
+ 
+-if(UNIX) # ANDROID configuration is created here also
++if(1) # ANDROID configuration is created here also
+   #http://www.vtk.org/Wiki/CMake/Tutorials/Packaging reference
+   # For a command "find_package(<name> [major[.minor]] [EXACT] [REQUIRED|QUIET])"
+   # cmake will look in the following dir on unix:
+@@ -126,7 +126,7 @@ endif()
+ # --------------------------------------------------------------------------------------------
+ #  Part 3/3: ${BIN_DIR}/win-install/OpenCVConfig.cmake  -> For use within binary installers/packages
+ # --------------------------------------------------------------------------------------------
+-if(WIN32)
++if(0)
+   set(OpenCV_INCLUDE_DIRS_CONFIGCMAKE "\"\${OpenCV_CONFIG_PATH}/include\" \"\${OpenCV_CONFIG_PATH}/include/opencv\"")
+   set(OpenCV2_INCLUDE_DIRS_CONFIGCMAKE "\"\"")
+ 
+--- a/cmake/OpenCVModule.cmake
++++ b/cmake/OpenCVModule.cmake
+@@ -86,10 +86,10 @@ macro(ocv_add_dependencies full_modname)
+   endforeach()
+   unset(__depsvar)
+ 
+-  ocv_list_unique(OPENCV_MODULE_${full_modname}_REQ_DEPS)
+-  ocv_list_unique(OPENCV_MODULE_${full_modname}_OPT_DEPS)
+-  ocv_list_unique(OPENCV_MODULE_${full_modname}_PRIVATE_REQ_DEPS)
+-  ocv_list_unique(OPENCV_MODULE_${full_modname}_PRIVATE_OPT_DEPS)
++  #ocv_list_unique(OPENCV_MODULE_${full_modname}_REQ_DEPS)
++  #ocv_list_unique(OPENCV_MODULE_${full_modname}_OPT_DEPS)
++  #ocv_list_unique(OPENCV_MODULE_${full_modname}_PRIVATE_REQ_DEPS)
++  #ocv_list_unique(OPENCV_MODULE_${full_modname}_PRIVATE_OPT_DEPS)
+ 
+   set(OPENCV_MODULE_${full_modname}_REQ_DEPS ${OPENCV_MODULE_${full_modname}_REQ_DEPS}
+     CACHE INTERNAL "Required dependencies of ${full_modname} module")
+@@ -277,7 +277,7 @@ endfunction()
+ 
+ # sort modules by dependencies
+ function(__ocv_sort_modules_by_deps __lst)
+-  ocv_list_sort(${__lst})
++  #ocv_list_sort(${__lst})
+   set(${__lst}_ORDERED ${${__lst}} CACHE INTERNAL "")
+   set(__result "")
+   foreach (m ${${__lst}})
+@@ -382,7 +382,7 @@ function(__ocv_resolve_dependencies)
+     endforeach()
+   endforeach()
+ 
+-  ocv_list_sort(OPENCV_MODULES_BUILD)
++  #ocv_list_sort(OPENCV_MODULES_BUILD)
+ 
+   foreach(m ${OPENCV_MODULES_BUILD})
+ #    message(STATUS "FULL deps of ${m}: ${deps_${m}}")
+@@ -397,7 +397,7 @@ function(__ocv_resolve_dependencies)
+   # reorder dependencies
+   foreach(m ${OPENCV_MODULES_BUILD})
+     __ocv_sort_modules_by_deps(OPENCV_MODULE_${m}_DEPS)
+-    ocv_list_sort(OPENCV_MODULE_${m}_DEPS_EXT)
++    #ocv_list_sort(OPENCV_MODULE_${m}_DEPS_EXT)
+ 
+     set(OPENCV_MODULE_${m}_DEPS ${OPENCV_MODULE_${m}_DEPS} CACHE INTERNAL "Flattened dependencies of ${m} module")
+     set(OPENCV_MODULE_${m}_DEPS_EXT ${OPENCV_MODULE_${m}_DEPS_EXT} CACHE INTERNAL "Extra dependencies of ${m} module")
+--- a/data/CMakeLists.txt
++++ b/data/CMakeLists.txt
+@@ -5,8 +5,6 @@ if(ANDROID)
+   install(FILES ${HAAR_CASCADES} DESTINATION sdk/etc/haarcascades COMPONENT libs)
+   install(FILES ${LBP_CASCADES}  DESTINATION sdk/etc/lbpcascades  COMPONENT libs)
+ else()
+-  install(FILES ${HAAR_CASCADES} DESTINATION share/OpenCV/haarcascades COMPONENT libs)
+-  install(FILES ${LBP_CASCADES}  DESTINATION share/OpenCV/lbpcascades  COMPONENT libs)
+ endif()
+ 
+ if(INSTALL_TESTS AND OPENCV_TEST_DATA_PATH)
+@@ -51,4 +49,4 @@ if(INSTALL_TESTS AND OPENCV_TEST_DATA_PATH)
+       install(FILES ${DATAFILES_CASCADES} DESTINATION share/OpenCV/testdata/data/haarcascades COMPONENT tests)
+     endif()
+   endif()
+-endif()
+
++endif()
+--- a/modules/core/CMakeLists.txt
++++ b/modules/core/CMakeLists.txt
+@@ -1,9 +1,9 @@
+ set(the_description "The Core Functionality")
+ 
+ if (NOT HAVE_CUDA OR ENABLE_DYNAMIC_CUDA)
+-  ocv_add_module(core PRIVATE_REQUIRED ${ZLIB_LIBRARIES})
++  ocv_add_module(core PRIVATE_REQUIRED ZLIB::ZLIB)
+ else()
+-  ocv_add_module(core PRIVATE_REQUIRED ${ZLIB_LIBRARIES} ${CUDA_LIBRARIES} ${CUDA_npp_LIBRARY})
++  ocv_add_module(core PRIVATE_REQUIRED ZLIB::ZLIB ${CUDA_LIBRARIES} ${CUDA_npp_LIBRARY})
+ endif()
+ 
+ ocv_module_include_directories("${OpenCV_SOURCE_DIR}/modules/dynamicuda/include/" ${ZLIB_INCLUDE_DIR})
+--- a/modules/highgui/CMakeLists.txt
++++ b/modules/highgui/CMakeLists.txt
+@@ -15,23 +15,23 @@ endif()
+ 
+ if(HAVE_PNG OR HAVE_TIFF OR HAVE_OPENEXR)
+   ocv_include_directories(${ZLIB_INCLUDE_DIR})
+-  list(APPEND GRFMT_LIBS ${ZLIB_LIBRARIES})
++  list(APPEND GRFMT_LIBS ZLIB::ZLIB)
+ endif()
+ 
+ if(HAVE_JPEG)
+   ocv_include_directories(${JPEG_INCLUDE_DIR})
+-  list(APPEND GRFMT_LIBS ${JPEG_LIBRARIES})
++  list(APPEND GRFMT_LIBS JPEG::JPEG)
+ endif()
+ 
+ if(HAVE_PNG)
+   add_definitions(${PNG_DEFINITIONS})
+   ocv_include_directories(${PNG_INCLUDE_DIR})
+-  list(APPEND GRFMT_LIBS ${PNG_LIBRARIES})
++  list(APPEND GRFMT_LIBS PNG::PNG)
+ endif()
+ 
+ if(HAVE_TIFF)
+   ocv_include_directories(${TIFF_INCLUDE_DIR})
+-  list(APPEND GRFMT_LIBS ${TIFF_LIBRARIES})
++  list(APPEND GRFMT_LIBS TIFF::TIFF)
+ endif()
+ 
+ if(HAVE_JASPER)
+@@ -296,38 +296,5 @@ endif()
+ ocv_add_precompiled_headers(${the_module})
+ ocv_warnings_disable(CMAKE_CXX_FLAGS -Wno-deprecated-declarations -Wno-clobbered)
+ 
+-if(WIN32 AND WITH_FFMPEG)
+-  #copy ffmpeg dll to the output folder
+-  if(MSVC64 OR MINGW64)
+-    set(FFMPEG_SUFFIX _64)
+-  endif()
+-
+-  set(ffmpeg_bare_name "opencv_ffmpeg${FFMPEG_SUFFIX}.dll")
+-  set(ffmpeg_bare_name_ver "opencv_ffmpeg${OPENCV_DLLVERSION}${FFMPEG_SUFFIX}.dll")
+-  set(ffmpeg_path "${OpenCV_SOURCE_DIR}/3rdparty/ffmpeg/${ffmpeg_bare_name}")
+-
+-  #if(MSVC AND CMAKE_VERSION VERSION_GREATER "2.8.2")
+-  #  add_custom_command(TARGET ${the_module} POST_BUILD
+-  #                     COMMAND ${CMAKE_COMMAND} -E copy "${ffmpeg_path}" "${EXECUTABLE_OUTPUT_PATH}/$<CONFIGURATION>/${ffmpeg_bare_name_ver}"
+-  #                     COMMENT "Copying ${ffmpeg_path} to the output directory")
+-  #else
+-  if(MSVC_IDE)
+-    add_custom_command(TARGET ${the_module} POST_BUILD
+-                       COMMAND ${CMAKE_COMMAND} -E copy "${ffmpeg_path}" "${EXECUTABLE_OUTPUT_PATH}/Release/${ffmpeg_bare_name_ver}"
+-                       COMMAND ${CMAKE_COMMAND} -E copy "${ffmpeg_path}" "${EXECUTABLE_OUTPUT_PATH}/Debug/${ffmpeg_bare_name_ver}"
+-                       COMMENT "Copying ${ffmpeg_path} to the output directory")
+-  elseif(MSVC AND (CMAKE_GENERATOR MATCHES "Visual"))
+-    add_custom_command(TARGET ${the_module} POST_BUILD
+-                       COMMAND ${CMAKE_COMMAND} -E copy "${ffmpeg_path}" "${EXECUTABLE_OUTPUT_PATH}/${CMAKE_BUILD_TYPE}/${ffmpeg_bare_name_ver}"
+-                       COMMENT "Copying ${ffmpeg_path} to the output directory")
+-  else()
+-    add_custom_command(TARGET ${the_module} POST_BUILD
+-                       COMMAND ${CMAKE_COMMAND} -E copy "${ffmpeg_path}" "${EXECUTABLE_OUTPUT_PATH}/${ffmpeg_bare_name_ver}"
+-                       COMMENT "Copying ${ffmpeg_path} to the output directory")
+-  endif()
+-
+-  install(FILES "${ffmpeg_path}" DESTINATION ${OPENCV_BIN_INSTALL_PATH} COMPONENT libs RENAME "${ffmpeg_bare_name_ver}")
+-endif()
+-
+ ocv_add_accuracy_tests()
+ ocv_add_perf_tests()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv2/0003-force-package-requirements.patch

@@ -0,0 +1,56 @@
+--- a/cmake/OpenCVFindLibsGrfmt.cmake
++++ b/cmake/OpenCVFindLibsGrfmt.cmake
+@@ -6,7 +6,7 @@
+ if(BUILD_ZLIB)
+   ocv_clear_vars(ZLIB_FOUND)
+ else()
+-  include(FindZLIB)
++  find_package(ZLIB REQUIRED)
+   if(ZLIB_FOUND AND ANDROID)
+     if(ZLIB_LIBRARIES STREQUAL "${ANDROID_SYSROOT}/usr/lib/libz.so" OR
+         ZLIB_LIBRARIES STREQUAL "${ANDROID_SYSROOT}/usr/lib64/libz.so")
+@@ -32,7 +32,7 @@ if(WITH_TIFF)
+   if(BUILD_TIFF)
+     ocv_clear_vars(TIFF_FOUND)
+   else()
+-    include(FindTIFF)
++    find_package(TIFF REQUIRED)
+     if(TIFF_FOUND)
+       ocv_parse_header("${TIFF_INCLUDE_DIR}/tiff.h" TIFF_VERSION_LINES TIFF_VERSION_CLASSIC TIFF_VERSION_BIG TIFF_VERSION TIFF_BIGTIFF_VERSION)
+     endif()
+@@ -74,7 +74,7 @@ if(WITH_JPEG)
+   if(BUILD_JPEG)
+     ocv_clear_vars(JPEG_FOUND)
+   else()
+-    include(FindJPEG)
++    find_package(JPEG REQUIRED)
+   endif()
+ 
+   if(NOT JPEG_FOUND)
+@@ -95,7 +95,7 @@ if(WITH_JASPER)
+   if(BUILD_JASPER)
+     ocv_clear_vars(JASPER_FOUND)
+   else()
+-    include(FindJasper)
++    find_package(Jasper REQUIRED)
+   endif()
+ 
+   if(NOT JASPER_FOUND)
+@@ -119,7 +119,7 @@ if(WITH_PNG)
+   if(BUILD_PNG)
+     ocv_clear_vars(PNG_FOUND)
+   else()
+-    include(FindPNG)
++    find_package(PNG REQUIRED)
+     if(PNG_FOUND)
+       include(CheckIncludeFile)
+       check_include_file("${PNG_PNG_INCLUDE_DIR}/libpng/png.h" HAVE_LIBPNG_PNG_H)
+@@ -151,7 +151,7 @@ if(WITH_OPENEXR)
+   if(BUILD_OPENEXR)
+     ocv_clear_vars(OPENEXR_FOUND)
+   else()
+-    include("${OpenCV_SOURCE_DIR}/cmake/OpenCVFindOpenEXR.cmake")
++    find_package(OpenEXR REQUIRED)
+   endif()
+ 
+   if(NOT OPENEXR_FOUND)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv2/0004-add-ffmpeg-missing-defines.patch

@@ -0,0 +1,12 @@
+--- a/modules/highgui/src/cap_ffmpeg_impl.hpp
++++ b/modules/highgui/src/cap_ffmpeg_impl.hpp
+@@ -42,6 +42,9 @@
+ 
+ #define HAVE_FFMPEG_SWSCALE
+ #define HAVE_GENTOO_FFMPEG
++#define AV_CODEC_FLAG_GLOBAL_HEADER (1 << 22)
++#define CODEC_FLAG_GLOBAL_HEADER AV_CODEC_FLAG_GLOBAL_HEADER
++#define AVFMT_RAWPICTURE 0x0020
+ 
+ #include "cap_ffmpeg_api.hpp"
+ #include <assert.h>

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv2/0005-fix-cuda.patch

@@ -0,0 +1,140 @@
+--- a/cmake/OpenCVDetectCUDA.cmake
++++ b/cmake/OpenCVDetectCUDA.cmake
+@@ -51,7 +51,6 @@ if(CUDA_FOUND)
+ 
+   message(STATUS "CUDA detected: " ${CUDA_VERSION})
+ 
+-  set(_generations "Fermi" "Kepler")
+   if(NOT CMAKE_CROSSCOMPILING)
+     list(APPEND _generations "Auto")
+   endif()
+@@ -69,48 +68,8 @@ if(CUDA_FOUND)
+     unset(CUDA_ARCH_PTX CACHE)
+   endif()
+ 
+-  set(__cuda_arch_ptx "")
+-  if(CUDA_GENERATION STREQUAL "Fermi")
+-    set(__cuda_arch_bin "2.0 2.1(2.0)")
+-  elseif(CUDA_GENERATION STREQUAL "Kepler")
+-    if(${CUDA_VERSION} VERSION_LESS "5.0")
+-      set(__cuda_arch_bin "3.0")
+-    else()
+-      set(__cuda_arch_bin "3.0 3.5")
+-    endif()
+-  elseif(CUDA_GENERATION STREQUAL "Auto")
+-    execute_process( COMMAND "${CUDA_NVCC_EXECUTABLE}" "${OpenCV_SOURCE_DIR}/cmake/checks/OpenCVDetectCudaArch.cu" "--run"
+-                     WORKING_DIRECTORY "${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeTmp/"
+-                     RESULT_VARIABLE _nvcc_res OUTPUT_VARIABLE _nvcc_out
+-                     ERROR_QUIET OUTPUT_STRIP_TRAILING_WHITESPACE)
+-    if(NOT _nvcc_res EQUAL 0)
+-      message(STATUS "Automatic detection of CUDA generation failed. Going to build for all known architectures.")
+-    else()
+-      set(__cuda_arch_bin "${_nvcc_out}")
+-      string(REPLACE "2.1" "2.1(2.0)" __cuda_arch_bin "${__cuda_arch_bin}")
+-    endif()
+-  endif()
+-
+-  if(NOT DEFINED __cuda_arch_bin)
+-    if(ANDROID)
+-      if (ARM)
+-        set(__cuda_arch_bin "3.2")
+-        set(__cuda_arch_ptx "")
+-      elseif(AARCH64)
+-        set(__cuda_arch_bin "5.3")
+-        set(__cuda_arch_ptx "")
+-      endif()
+-    else()
+-      if(${CUDA_VERSION} VERSION_LESS "5.0")
+-        set(__cuda_arch_bin "1.1 1.2 1.3 2.0 2.1(2.0) 3.0")
+-      elseif(${CUDA_VERSION} VERSION_GREATER "6.5")
+-        set(__cuda_arch_bin "2.0 2.1(2.0) 3.0 3.5")
+-      else()
+-        set(__cuda_arch_bin "1.1 1.2 1.3 2.0 2.1(2.0) 3.0 3.5")
+-      endif()
+-      set(__cuda_arch_ptx "3.0")
+-    endif()
+-  endif()
++  set(__cuda_arch_ptx "5.0")
++  set(__cuda_arch_bin "5.0")
+ 
+   set(CUDA_ARCH_BIN ${__cuda_arch_bin} CACHE STRING "Specify 'real' GPU architectures to build binaries for, BIN(PTX) format is supported")
+   set(CUDA_ARCH_PTX ${__cuda_arch_ptx} CACHE STRING "Specify 'virtual' PTX architectures to build PTX intermediate code for")
+@@ -229,18 +188,40 @@ else()
+ endif()
+ 
+ if(HAVE_CUDA)
++  set(CUDA_LIBS_PATH "")
++  foreach(p ${CUDA_LIBRARIES} ${CUDA_npp_LIBRARY})
++    get_filename_component(_tmp ${p} PATH)
++    list(APPEND CUDA_LIBS_PATH ${_tmp})
++  endforeach()
++
++  if(HAVE_CUBLAS)
++    foreach(p ${CUDA_cublas_LIBRARY})
++      get_filename_component(_tmp ${p} PATH)
++      list(APPEND CUDA_LIBS_PATH ${_tmp})
++    endforeach()
++  endif()
++
++  if(HAVE_CUFFT)
++    foreach(p ${CUDA_cufft_LIBRARY})
++      get_filename_component(_tmp ${p} PATH)
++      list(APPEND CUDA_LIBS_PATH ${_tmp})
++    endforeach()
++  endif()
++
++  list(REMOVE_DUPLICATES CUDA_LIBS_PATH)
++  link_directories(${CUDA_LIBS_PATH})
++
+   set(CUDA_LIBRARIES_ABS ${CUDA_LIBRARIES})
+-  ocv_create_imported_targets(CUDA_LIBRARIES ${CUDA_LIBRARIES})
++  ocv_convert_to_lib_name(CUDA_LIBRARIES ${CUDA_LIBRARIES})
+   set(CUDA_npp_LIBRARY_ABS ${CUDA_npp_LIBRARY})
+-  ocv_create_imported_targets(CUDA_npp_LIBRARY ${CUDA_npp_LIBRARY})
+-
++  ocv_convert_to_lib_name(CUDA_npp_LIBRARY ${CUDA_npp_LIBRARY})
+   if(HAVE_CUBLAS)
+     set(CUDA_cublas_LIBRARY_ABS ${CUDA_cublas_LIBRARY})
+-    ocv_create_imported_targets(CUDA_cublas_LIBRARY ${CUDA_cublas_LIBRARY})
++    ocv_convert_to_lib_name(CUDA_cublas_LIBRARY ${CUDA_cublas_LIBRARY})
+   endif()
+ 
+   if(HAVE_CUFFT)
+     set(CUDA_cufft_LIBRARY_ABS ${CUDA_cufft_LIBRARY})
+-    ocv_create_imported_targets(CUDA_cufft_LIBRARY ${CUDA_cufft_LIBRARY})
++    ocv_convert_to_lib_name(CUDA_cufft_LIBRARY ${CUDA_cufft_LIBRARY})
+   endif()
+ endif()
+--- a/cmake/templates/OpenCVConfig.cmake.in
++++ b/cmake/templates/OpenCVConfig.cmake.in
+@@ -256,7 +256,7 @@ if(OpenCV_CUDA_VERSION)
+ 
+   set(OpenCV_CUDA_LIBS_ABSPATH ${CUDA_LIBRARIES})
+ 
+-  if(${CUDA_VERSION} VERSION_LESS "5.5")
++  if(CUDA_VERSION VERSION_LESS "5.5")
+     list(APPEND OpenCV_CUDA_LIBS_ABSPATH ${CUDA_npp_LIBRARY})
+   else()
+     find_cuda_helper_libs(nppc)
+@@ -281,14 +281,16 @@ if(OpenCV_CUDA_VERSION)
+     list(APPEND OpenCV_CUDA_LIBS_ABSPATH ${CUDA_nvcuvenc_LIBRARIES})
+   endif()
+ 
++  set(OpenCV_CUDA_LIBS_RELPATH "")
+   foreach(l ${OpenCV_CUDA_LIBS_ABSPATH})
+-    get_filename_component(_tmp "${l}" NAME_WE)
+-    string(REGEX REPLACE "^lib" "" _tmp "${_tmp}")
+-    if(NOT TARGET "opencv_dep_${_tmp}") # protect against repeated inclusions
+-      add_library("opencv_dep_${_tmp}" UNKNOWN IMPORTED)
+-      set_target_properties("opencv_dep_${_tmp}" PROPERTIES IMPORTED_LOCATION "${l}")
++    get_filename_component(_tmp ${l} PATH)
++    if(NOT ${_tmp} MATCHES "-Wl.*")
++      list(APPEND OpenCV_CUDA_LIBS_RELPATH ${_tmp})
+     endif()
+   endforeach()
++
++  list(REMOVE_DUPLICATES OpenCV_CUDA_LIBS_RELPATH)
++  link_directories(${OpenCV_CUDA_LIBS_RELPATH})
+ endif()
+ 
+ # ==============================================================

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv2/fix-path-contains-++-error.patch

@@ -0,0 +1,49 @@
+diff --git a/cmake/OpenCVUtils.cmake b/cmake/OpenCVUtils.cmake
+index 72df4d4..7d45974 100644
+--- a/cmake/OpenCVUtils.cmake
++++ b/cmake/OpenCVUtils.cmake
+@@ -82,12 +82,42 @@ macro(ocv_check_environment_variables)
+   endforeach()
+ endmacro()
+ 
++# check if "sub" (file or dir) is below "dir"
++function(is_subdir res dir sub )
++  get_filename_component(dir "${dir}" ABSOLUTE)
++  get_filename_component(sub "${sub}" ABSOLUTE)
++  file(TO_CMAKE_PATH "${dir}" dir)
++  file(TO_CMAKE_PATH "${sub}" sub)
++  set(dir "${dir}/")
++  string(LENGTH "${dir}" len)
++  string(LENGTH "${sub}" len_sub)
++  if(NOT len GREATER len_sub)
++    string(SUBSTRING "${sub}" 0 ${len} prefix)
++  endif()
++  if(prefix AND prefix STREQUAL dir)
++    set(${res} TRUE PARENT_SCOPE)
++  else()
++    set(${res} FALSE PARENT_SCOPE)
++  endif()
++endfunction()
++
++function(ocv_is_opencv_directory result_var dir)
++  set(result FALSE)
++  foreach(parent ${OpenCV_SOURCE_DIR} ${OpenCV_BINARY_DIR} ${OPENCV_EXTRA_MODULES_PATH})
++    is_subdir(result "${parent}" "${dir}")
++    if(result)
++      break()
++    endif()
++  endforeach()
++  set(${result_var} ${result} PARENT_SCOPE)
++endfunction()
++
+ # adds include directories in such a way that directories from the OpenCV source tree go first
+ function(ocv_include_directories)
+   set(__add_before "")
+   foreach(dir ${ARGN})
+-    get_filename_component(__abs_dir "${dir}" ABSOLUTE)
+-    if("${__abs_dir}" MATCHES "^${OpenCV_SOURCE_DIR}" OR "${__abs_dir}" MATCHES "^${OpenCV_BINARY_DIR}")
++    ocv_is_opencv_directory(__is_opencv_dir "${dir}")
++    if(__is_opencv_dir)
+       list(APPEND __add_before "${dir}")
+     elseif(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.0" AND
+            dir MATCHES "/usr/include$")

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv2/portfile.cmake

@@ -0,0 +1,203 @@
+if (EXISTS "${CURRENT_INSTALLED_DIR}/share/opencv3")
+  message(FATAL_ERROR "OpenCV 3 is installed, please uninstall and try again:\n    vcpkg remove opencv3")
+endif()
+
+if (EXISTS "${CURRENT_INSTALLED_DIR}/share/opencv4")
+  message(FATAL_ERROR "OpenCV 4 is installed, please uninstall and try again:\n    vcpkg remove opencv4")
+endif()
+
+file(READ "${CMAKE_CURRENT_LIST_DIR}/vcpkg.json" _contents)
+string(JSON OPENCV_VERSION GET "${_contents}" version)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO opencv/opencv
+    REF ${OPENCV_VERSION}
+    SHA512 de7d24ac7ed78ac14673011cbecc477cae688b74222a972e553c95a557b5cb8e5913f97db525421d6a72af30998ca300112fa0b285daed65f65832eb2cf7241a
+    HEAD_REF master
+    PATCHES
+      0002-install-options.patch
+      0003-force-package-requirements.patch
+      0004-add-ffmpeg-missing-defines.patch
+      0005-fix-cuda.patch
+      fix-path-contains-++-error.patch
+)
+
+file(REMOVE "${SOURCE_PATH}/cmake/FindCUDA.cmake")
+file(REMOVE_RECURSE "${SOURCE_PATH}/cmake/FindCUDA")
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+FEATURES
+ "cuda"     WITH_CUDA
+ "eigen"    WITH_EIGEN
+ "ffmpeg"   WITH_FFMPEG
+ "jasper"   WITH_JASPER
+ "jpeg"     WITH_JPEG
+ "openexr"  WITH_OPENEXR
+ "opengl"   WITH_OPENGL
+ "png"      WITH_PNG
+ "qt"       WITH_QT
+ "tiff"     WITH_TIFF
+ "world"    BUILD_opencv_world
+)
+
+set(WITH_MSMF ON)
+if(NOT VCPKG_TARGET_IS_WINDOWS OR VCPKG_TARGET_IS_UWP)
+  set(WITH_MSMF OFF)
+endif()
+
+set(WITH_GTK OFF)
+if("gtk" IN_LIST FEATURES)
+  if(VCPKG_TARGET_IS_LINUX)
+    set(WITH_GTK ON)
+  else()
+    message(WARNING "The gtk module cannot be enabled outside Linux")
+  endif()
+endif()
+
+if("ffmpeg" IN_LIST FEATURES)
+  if(VCPKG_TARGET_IS_UWP)
+    set(VCPKG_C_FLAGS "/sdl- ${VCPKG_C_FLAGS}")
+    set(VCPKG_CXX_FLAGS "/sdl- ${VCPKG_CXX_FLAGS}")
+  endif()
+endif()
+
+set(WITH_PYTHON OFF)
+if("python" IN_LIST FEATURES)
+  set(WITH_PYTHON ON)
+  vcpkg_find_acquire_program(PYTHON2)
+  get_filename_component(PYTHON2_DIR "${PYTHON2}" DIRECTORY)
+  vcpkg_add_to_path("${PYTHON2_DIR}")
+  vcpkg_add_to_path("${PYTHON2_DIR}/Scripts")
+  set(ENV{PYTHON} "${PYTHON2}")
+
+  function(vcpkg_get_python_package PYTHON_DIR )
+      cmake_parse_arguments(PARSE_ARGV 0 _vgpp "" "PYTHON_EXECUTABLE" "PACKAGES")
+
+      if(NOT _vgpp_PYTHON_EXECUTABLE)
+          message(FATAL_ERROR "${CMAKE_CURRENT_FUNCTION} requires parameter PYTHON_EXECUTABLE!")
+      endif()
+      if(NOT _vgpp_PACKAGES)
+          message(FATAL_ERROR "${CMAKE_CURRENT_FUNCTION} requires parameter PACKAGES!")
+      endif()
+      if(NOT _vgpp_PYTHON_DIR)
+          get_filename_component(_vgpp_PYTHON_DIR "${_vgpp_PYTHON_EXECUTABLE}" DIRECTORY)
+      endif()
+
+      if (WIN32)
+          set(PYTHON_OPTION "")
+      else()
+          set(PYTHON_OPTION "--user")
+      endif()
+
+      if(NOT EXISTS "${_vgpp_PYTHON_DIR}/easy_install${VCPKG_HOST_EXECUTABLE_SUFFIX}")
+          if(NOT EXISTS "${_vgpp_PYTHON_DIR}/Scripts/pip${VCPKG_HOST_EXECUTABLE_SUFFIX}")
+              vcpkg_from_github(
+                  OUT_SOURCE_PATH PYFILE_PATH
+                  REPO pypa/get-pip
+                  REF 309a56c5fd94bd1134053a541cb4657a4e47e09d #2019-08-25
+                  SHA512 bb4b0745998a3205cd0f0963c04fb45f4614ba3b6fcbe97efe8f8614192f244b7ae62705483a5305943d6c8fedeca53b2e9905aed918d2c6106f8a9680184c7a
+                  HEAD_REF master
+              )
+              execute_process(COMMAND "${_vgpp_PYTHON_EXECUTABLE}" "${PYFILE_PATH}/get-pip.py" ${PYTHON_OPTION})
+          endif()
+          foreach(_package IN LISTS _vgpp_PACKAGES)
+              execute_process(COMMAND "${_vgpp_PYTHON_DIR}/Scripts/pip${VCPKG_HOST_EXECUTABLE_SUFFIX}" install ${_package} ${PYTHON_OPTION})
+          endforeach()
+      else()
+          foreach(_package IN LISTS _vgpp_PACKAGES)
+              execute_process(COMMAND "${_vgpp_PYTHON_DIR}/easy_install${VCPKG_HOST_EXECUTABLE_SUFFIX}" ${_package})
+          endforeach()
+      endif()
+  endfunction()
+  vcpkg_get_python_package(PYTHON_EXECUTABLE "${PYTHON2}" PACKAGES numpy)
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        ###### ocv_options
+        -DCMAKE_DEBUG_POSTFIX=d
+        # Do not build docs/examples
+        -DBUILD_DOCS=OFF
+        -DBUILD_EXAMPLES=OFF
+        ###### Disable build 3rd party libs
+        -DBUILD_JASPER=OFF
+        -DBUILD_JPEG=OFF
+        -DBUILD_OPENEXR=OFF
+        -DBUILD_PNG=OFF
+        -DBUILD_TIFF=OFF
+        -DBUILD_TBB=OFF
+        -DBUILD_ZLIB=OFF
+        ###### OpenCV Build components
+        -DBUILD_opencv_apps=OFF
+        -DBUILD_PACKAGE=OFF
+        -DBUILD_PERF_TESTS=OFF
+        -DBUILD_TESTS=OFF
+        -DBUILD_WITH_DEBUG_INFO=ON
+        # CMAKE
+        -DCMAKE_DISABLE_FIND_PACKAGE_JNI=ON
+        ###### customized properties
+        ## Options from vcpkg_check_features()
+        ${FEATURE_OPTIONS}
+        -DWITH_1394=OFF
+        -DWITH_IPP=OFF
+        -DWITH_LAPACK=OFF
+        -DWITH_MSMF=${WITH_MSMF}
+        -DWITH_OPENCLAMDBLAS=OFF
+        -DWITH_OPENMP=OFF
+        -DWITH_PYTHON=${WITH_PYTHON}
+        -DWITH_ZLIB=ON
+        -WITH_GTK=${WITH_GTK}
+        -DWITH_CUBLAS=OFF   # newer libcublas cannot be found by the old cuda cmake script in opencv2, requires a fix
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(PACKAGE_NAME opencv CONFIG_PATH "share/opencv")
+vcpkg_copy_pdbs()
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+  file(READ "${CURRENT_PACKAGES_DIR}/share/opencv/OpenCVModules.cmake" OPENCV_MODULES)
+
+  set(DEPS_STRING "include(CMakeFindDependencyMacro)
+find_dependency(Threads)")
+  if("tiff" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(TIFF)")
+  endif()
+  if("cuda" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(CUDA)")
+  endif()
+  if("openexr" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(OpenEXR CONFIG)")
+  endif()
+  if("png" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(PNG)")
+  endif()
+  if("qt" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTORCC ON)
+set(CMAKE_AUTOUIC ON)
+find_dependency(Qt5 COMPONENTS Core Gui Widgets Test Concurrent)")
+    if("opengl" IN_LIST FEATURES)
+      string(APPEND DEPS_STRING "
+find_dependency(Qt5 COMPONENTS OpenGL)")
+    endif()
+  endif()
+
+  string(REPLACE "set(CMAKE_IMPORT_FILE_VERSION 1)"
+                 "set(CMAKE_IMPORT_FILE_VERSION 1)\n${DEPS_STRING}" OPENCV_MODULES "${OPENCV_MODULES}")
+
+  file(WRITE "${CURRENT_PACKAGES_DIR}/share/opencv/OpenCVModules.cmake" "${OPENCV_MODULES}")
+
+  file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+endif()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE "${CURRENT_PACKAGES_DIR}/LICENSE")
+file(REMOVE "${CURRENT_PACKAGES_DIR}/debug/LICENSE")
+
+vcpkg_fixup_pkgconfig()
+
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv2/vcpkg.json

@@ -0,0 +1,132 @@
+{
+  "name": "opencv2",
+  "version": "2.4.13.7",
+  "port-version": 11,
+  "description": "computer vision library",
+  "homepage": "https://github.com/opencv/opencv",
+  "license": "BSD-3-Clause",
+  "supports": "!uwp",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    },
+    "zlib"
+  ],
+  "default-features": [
+    "default-features"
+  ],
+  "features": {
+    "cuda": {
+      "description": "CUDA support for opencv",
+      "dependencies": [
+        "cuda"
+      ]
+    },
+    "default-features": {
+      "description": "Platform-dependent default features",
+      "dependencies": [
+        {
+          "name": "opencv2",
+          "default-features": false,
+          "features": [
+            "eigen",
+            "jpeg",
+            "png",
+            "tiff"
+          ]
+        },
+        {
+          "name": "opencv2",
+          "default-features": false,
+          "features": [
+            "gtk"
+          ],
+          "platform": "linux"
+        }
+      ]
+    },
+    "eigen": {
+      "description": "Eigen support for opencv",
+      "dependencies": [
+        "eigen3"
+      ]
+    },
+    "ffmpeg": {
+      "description": "ffmpeg support for opencv",
+      "dependencies": [
+        {
+          "name": "ffmpeg",
+          "default-features": false,
+          "features": [
+            "avcodec",
+            "avformat",
+            "swresample",
+            "swscale"
+          ]
+        }
+      ]
+    },
+    "gtk": {
+      "description": "GTK support for opencv",
+      "dependencies": [
+        "gtk"
+      ]
+    },
+    "jasper": {
+      "description": "JPEG 2000 support for opencv",
+      "dependencies": [
+        "jasper"
+      ]
+    },
+    "jpeg": {
+      "description": "JPEG support for opencv",
+      "dependencies": [
+        "libjpeg-turbo"
+      ]
+    },
+    "openexr": {
+      "description": "OpenEXR support for opencv",
+      "dependencies": [
+        "openexr"
+      ]
+    },
+    "opengl": {
+      "description": "opengl support for opencv",
+      "dependencies": [
+        "opengl"
+      ]
+    },
+    "png": {
+      "description": "PNG support for opencv",
+      "dependencies": [
+        "libpng"
+      ]
+    },
+    "python": {
+      "description": "Python wrapper support for opencv"
+    },
+    "qt": {
+      "description": "Qt GUI support for opencv",
+      "dependencies": [
+        {
+          "name": "qt5-base",
+          "default-features": false
+        }
+      ]
+    },
+    "tiff": {
+      "description": "TIFF support for opencv",
+      "dependencies": [
+        "tiff"
+      ]
+    },
+    "world": {
+      "description": "Compile to a single package support for opencv"
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/0001-disable-downloading.patch

@@ -0,0 +1,12 @@
+--- a/cmake/OpenCVDownload.cmake
++++ b/cmake/OpenCVDownload.cmake
+@@ -157,6 +157,9 @@ function(ocv_download)
+   # Download
+   if(NOT EXISTS "${CACHE_CANDIDATE}")
+     ocv_download_log("#cmake_download \"${CACHE_CANDIDATE}\" \"${DL_URL}\"")
++    string(REPLACE "${OPENCV_DOWNLOAD_PATH}/" "opencv-cache/" CACHE_SUBPATH "${CACHE_CANDIDATE}")
++    message(FATAL_ERROR "    Downloads are not permitted during configure. Please pre-download the file \"${CACHE_CANDIDATE}\":\n    \n    vcpkg_download_distfile(OCV_DOWNLOAD\n        URLS \"${DL_URL}\"\n        FILENAME \"${CACHE_SUBPATH}\"\n        SHA512 0\n    )")
++
+     foreach(try ${OPENCV_DOWNLOAD_TRIES_LIST})
+       ocv_download_log("#try ${try}")
+       file(DOWNLOAD "${DL_URL}" "${CACHE_CANDIDATE}"

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/0002-install-options.patch

@@ -0,0 +1,59 @@
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -607,7 +607,7 @@ endif()
+ ocv_cmake_hook(POST_CMAKE_BUILD_OPTIONS)
+ 
+ # --- Python Support ---
+-if(NOT IOS)
++if(WITH_PYTHON)
+   include(cmake/OpenCVDetectPython.cmake)
+ endif()
+ 
+--- a/cmake/OpenCVCompilerOptions.cmake
++++ b/cmake/OpenCVCompilerOptions.cmake
+@@ -284,7 +284,6 @@ if(MSVC)
+   #endif()
+ 
+   if(BUILD_WITH_DEBUG_INFO)
+-    set(OPENCV_EXTRA_FLAGS_RELEASE "${OPENCV_EXTRA_FLAGS_RELEASE} /Zi")
+     set(OPENCV_EXTRA_EXE_LINKER_FLAGS_RELEASE "${OPENCV_EXTRA_EXE_LINKER_FLAGS_RELEASE} /debug")
+     set(OPENCV_EXTRA_SHARED_LINKER_FLAGS_RELEASE "${OPENCV_EXTRA_SHARED_LINKER_FLAGS_RELEASE} /debug")
+     set(OPENCV_EXTRA_MODULE_LINKER_FLAGS_RELEASE "${OPENCV_EXTRA_MODULE_LINKER_FLAGS_RELEASE} /debug")
+--- a/cmake/OpenCVGenConfig.cmake
++++ b/cmake/OpenCVGenConfig.cmake
+@@ -109,11 +109,11 @@ function(ocv_gen_config TMP_DIR NESTED_PATH ROOT_NAME)
+   endif()
+ endfunction()
+ 
+-if((CMAKE_HOST_SYSTEM_NAME MATCHES "Linux" OR UNIX) AND NOT ANDROID)
++if(TRUE)
+   ocv_gen_config("${CMAKE_BINARY_DIR}/unix-install" "" "")
+ endif()
+ 
+-if(ANDROID)
++if(FALSE)
+   ocv_gen_config("${CMAKE_BINARY_DIR}/unix-install" "abi-${ANDROID_NDK_ABI_NAME}" "OpenCVConfig.root-ANDROID.cmake.in")
+   install(FILES "${OpenCV_SOURCE_DIR}/platforms/android/android.toolchain.cmake" DESTINATION "${OPENCV_CONFIG_INSTALL_PATH}" COMPONENT dev)
+ endif()
+@@ -121,7 +121,7 @@ endif()
+ # --------------------------------------------------------------------------------------------
+ #  Part 3/3: ${BIN_DIR}/win-install/OpenCVConfig.cmake  -> For use within binary installers/packages
+ # --------------------------------------------------------------------------------------------
+-if(WIN32)
++if(FALSE)
+   if(CMAKE_HOST_SYSTEM_NAME MATCHES Windows AND NOT OPENCV_SKIP_CMAKE_ROOT_CONFIG)
+     ocv_gen_config("${CMAKE_BINARY_DIR}/win-install"
+                    "${OPENCV_INSTALL_BINARIES_PREFIX}${OPENCV_INSTALL_BINARIES_SUFFIX}"
+diff --git a/data/CMakeLists.txt b/data/CMakeLists.txt
+index 1f0d720..0bb1ff7 100644
+--- a/data/CMakeLists.txt
++++ b/data/CMakeLists.txt
+@@ -1,8 +1,6 @@
+ file(GLOB HAAR_CASCADES haarcascades/*.xml)
+ file(GLOB LBP_CASCADES lbpcascades/*.xml)
+ 
+-install(FILES ${HAAR_CASCADES} DESTINATION ${OPENCV_OTHER_INSTALL_PATH}/haarcascades COMPONENT libs)
+-install(FILES ${LBP_CASCADES}  DESTINATION ${OPENCV_OTHER_INSTALL_PATH}/lbpcascades  COMPONENT libs)
+ 
+ if(INSTALL_TESTS AND OPENCV_TEST_DATA_PATH)
+   install(DIRECTORY "${OPENCV_TEST_DATA_PATH}/" DESTINATION "${OPENCV_TEST_DATA_INSTALL_PATH}" COMPONENT "tests")

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/0003-force-package-requirements.patch

@@ -0,0 +1,83 @@
+--- a/cmake/OpenCVFindLibsGrfmt.cmake
++++ b/cmake/OpenCVFindLibsGrfmt.cmake
+@@ -11,7 +11,7 @@ else()
+     set(_zlib_ORIG_CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_FIND_LIBRARY_SUFFIXES})
+     set(CMAKE_FIND_LIBRARY_SUFFIXES .so)
+   endif()
+-  find_package(ZLIB "${MIN_VER_ZLIB}")
++  find_package(ZLIB "${MIN_VER_ZLIB}" REQUIRED)
+   if(ANDROID)
+     set(CMAKE_FIND_LIBRARY_SUFFIXES ${_zlib_ORIG_CMAKE_FIND_LIBRARY_SUFFIXES})
+     unset(_zlib_ORIG_CMAKE_FIND_LIBRARY_SUFFIXES)
+@@ -41,7 +41,7 @@ if(WITH_JPEG)
+     ocv_clear_vars(JPEG_FOUND)
+   else()
+     ocv_clear_internal_cache_vars(JPEG_LIBRARY JPEG_INCLUDE_DIR)
+-    include(FindJPEG)
++    find_package(JPEG REQUIRED)
+   endif()
+ 
+   if(NOT JPEG_FOUND)
+@@ -87,7 +87,7 @@ if(WITH_TIFF)
+     ocv_clear_vars(TIFF_FOUND)
+   else()
+     ocv_clear_internal_cache_vars(TIFF_LIBRARY TIFF_INCLUDE_DIR)
+-    include(FindTIFF)
++    find_package(TIFF REQUIRED)
+     if(TIFF_FOUND)
+       ocv_parse_header("${TIFF_INCLUDE_DIR}/tiff.h" TIFF_VERSION_LINES TIFF_VERSION_CLASSIC TIFF_VERSION_BIG TIFF_VERSION TIFF_BIGTIFF_VERSION)
+     endif()
+@@ -131,7 +131,7 @@ if(WITH_WEBP)
+     ocv_clear_vars(WEBP_FOUND WEBP_LIBRARY WEBP_LIBRARIES WEBP_INCLUDE_DIR)
+   else()
+     ocv_clear_internal_cache_vars(WEBP_LIBRARY WEBP_INCLUDE_DIR)
+-    include(cmake/OpenCVFindWebP.cmake)
++    find_package(WebP REQUIRED)
+     if(WEBP_FOUND)
+       set(HAVE_WEBP 1)
+     endif()
+@@ -172,7 +172,7 @@ if(WITH_JASPER)
+   if(BUILD_JASPER)
+     ocv_clear_vars(JASPER_FOUND)
+   else()
+-    include(FindJasper)
++    find_package(Jasper REQUIRED)
+   endif()
+ 
+   if(NOT JASPER_FOUND)
+@@ -197,7 +197,7 @@ if(WITH_PNG)
+     ocv_clear_vars(PNG_FOUND)
+   else()
+     ocv_clear_internal_cache_vars(PNG_LIBRARY PNG_INCLUDE_DIR)
+-    include(FindPNG)
++    find_package(PNG REQUIRED)
+     if(PNG_FOUND)
+       include(CheckIncludeFile)
+       check_include_file("${PNG_PNG_INCLUDE_DIR}/libpng/png.h" HAVE_LIBPNG_PNG_H)
+@@ -229,7 +229,7 @@ if(WITH_OPENEXR)
+   ocv_clear_vars(HAVE_OPENEXR)
+   if(NOT BUILD_OPENEXR)
+     ocv_clear_internal_cache_vars(OPENEXR_INCLUDE_PATHS OPENEXR_LIBRARIES OPENEXR_ILMIMF_LIBRARY OPENEXR_VERSION)
+-    include("${OpenCV_SOURCE_DIR}/cmake/OpenCVFindOpenEXR.cmake")
++    find_package(OpenEXR REQUIRED)
+   endif()
+ 
+   if(OPENEXR_FOUND)
+@@ -247,7 +247,7 @@ endif()
+ 
+ # --- GDAL (optional) ---
+ if(WITH_GDAL)
+-    find_package(GDAL QUIET)
++    find_package(GDAL REQUIRED)
+ 
+     if(NOT GDAL_FOUND)
+         set(HAVE_GDAL NO)
+@@ -259,7 +259,7 @@ if(WITH_GDAL)
+ endif()
+ 
+ if(WITH_GDCM)
+-  find_package(GDCM QUIET)
++  find_package(GDCM REQUIRED)
+   if(NOT GDCM_FOUND)
+     set(HAVE_GDCM NO)
+     ocv_clear_vars(GDCM_VERSION GDCM_LIBRARIES)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/0004-fix-eigen.patch

@@ -0,0 +1,11 @@
+--- a/cmake/OpenCVFindLibsPerf.cmake
++++ b/cmake/OpenCVFindLibsPerf.cmake
+@@ -55,7 +55,7 @@ if(WITH_EIGEN AND NOT HAVE_EIGEN)
+       OR NOT (CMAKE_VERSION VERSION_LESS "3.0.0")  # Eigen3Targets.cmake required CMake 3.0.0+
+       ) AND NOT OPENCV_SKIP_EIGEN_FIND_PACKAGE_CONFIG
+   )
+-    find_package(Eigen3 CONFIG QUIET)  # Ceres 2.0.0 CMake scripts doesn't work with CMake's FindEigen3.cmake module (due to missing EIGEN3_VERSION_STRING)
++    find_package(Eigen3 CONFIG REQUIRED)  # Ceres 2.0.0 CMake scripts doesn't work with CMake's FindEigen3.cmake module (due to missing EIGEN3_VERSION_STRING)
+   endif()
+   if(NOT Eigen3_FOUND)
+     find_package(Eigen3 QUIET)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/0005-fix-vtk9.patch

@@ -0,0 +1,466 @@
+--- a/cmake/OpenCVDetectVTK.cmake
++++ b/cmake/OpenCVDetectVTK.cmake
+@@ -1,12 +1,30 @@
++# VTK 9.0
++if(NOT VTK_FOUND)
++  find_package(VTK 9 QUIET NAMES vtk COMPONENTS
++    FiltersExtraction
++    FiltersSources
++    FiltersTexture
++    IOExport
++    IOGeometry
++    IOPLY
++    InteractionStyle
++    RenderingCore
++    RenderingLOD
++    RenderingOpenGL2
++    NO_MODULE)
++endif()
++
+ # VTK 6.x components
+-find_package(VTK QUIET COMPONENTS vtkInteractionStyle vtkRenderingLOD vtkIOPLY vtkFiltersTexture vtkRenderingFreeType vtkIOExport NO_MODULE)
+-IF(VTK_FOUND)
+-  IF(VTK_RENDERING_BACKEND) #in vtk 7, the rendering backend is exported as a var.
++if(NOT VTK_FOUND)
++  find_package(VTK QUIET COMPONENTS vtkInteractionStyle vtkRenderingLOD vtkIOPLY vtkFiltersTexture vtkRenderingFreeType vtkIOExport NO_MODULE)
++  IF(VTK_FOUND)
++    IF(VTK_RENDERING_BACKEND) #in vtk 7, the rendering backend is exported as a var.
+       find_package(VTK QUIET COMPONENTS vtkRendering${VTK_RENDERING_BACKEND} vtkInteractionStyle vtkRenderingLOD vtkIOPLY vtkFiltersTexture vtkRenderingFreeType vtkIOExport vtkIOGeometry NO_MODULE)
+-  ELSE(VTK_RENDERING_BACKEND)
++    ELSE(VTK_RENDERING_BACKEND)
+       find_package(VTK QUIET COMPONENTS vtkRenderingOpenGL vtkInteractionStyle vtkRenderingLOD vtkIOPLY vtkFiltersTexture vtkRenderingFreeType vtkIOExport NO_MODULE)
+-  ENDIF(VTK_RENDERING_BACKEND)
+-ENDIF(VTK_FOUND)
++    ENDIF(VTK_RENDERING_BACKEND)
++  ENDIF(VTK_FOUND)
++endif()
+ 
+ # VTK 5.x components
+ if(NOT VTK_FOUND)
+diff --git a/modules/viz/CMakeLists.txt b/modules/viz/CMakeLists.txt
+index 256b464..92698c3 100644
+--- a/modules/viz/CMakeLists.txt
++++ b/modules/viz/CMakeLists.txt
+@@ -3,7 +3,6 @@ if(NOT HAVE_VTK)
+ endif()
+ 
+ set(the_description "Viz")
+-include(${VTK_USE_FILE})
+ 
+ if(NOT BUILD_SHARED_LIBS)
+   # We observed conflict between builtin 3rdparty libraries and
+@@ -27,7 +26,14 @@ endif()
+ ocv_warnings_disable(CMAKE_CXX_FLAGS -Winconsistent-missing-override -Wsuggest-override)
+ 
+ ocv_define_module(viz opencv_core WRAP python)
+-ocv_target_link_libraries(${the_module} PRIVATE ${VTK_LIBRARIES})
++
++if (VTK_VERSION VERSION_LESS "8.90.0")
++  include(${VTK_USE_FILE})
++  ocv_target_link_libraries(${the_module} PRIVATE ${VTK_LIBRARIES})
++else ()
++  ocv_target_link_libraries(${the_module} PRIVATE ${VTK_LIBRARIES})
++  vtk_module_autoinit(TARGETS ${the_module} MODULES ${VTK_LIBRARIES})
++endif()
+ 
+ if(APPLE AND BUILD_opencv_viz)
+   ocv_target_link_libraries(${the_module} PRIVATE "-framework Cocoa")
+diff --git a/modules/viz/src/precomp.hpp b/modules/viz/src/precomp.hpp
+index f92fdb6..4c4bf7c 100644
+--- a/modules/viz/src/precomp.hpp
++++ b/modules/viz/src/precomp.hpp
+@@ -133,7 +133,8 @@
+ #include <vtkColorTransferFunction.h>
+ #include <vtkStreamingDemandDrivenPipeline.h>
+ #include <vtkLight.h>
+-#include "vtkCallbackCommand.h"
++#include <vtkCallbackCommand.h>
++#include <vtkVersion.h>
+ 
+ #if !defined(_WIN32) || defined(__CYGWIN__)
+ # include <unistd.h> /* unlink */
+@@ -149,6 +150,11 @@
+ #include "vtk/vtkTrajectorySource.h"
+ #include "vtk/vtkImageMatSource.h"
+ 
++#if VTK_MAJOR_VERSION >= 9
++typedef vtkIdType const * CellIterT;
++#else
++typedef vtkIdType * CellIterT;
++#endif
+ 
+ #include <opencv2/core.hpp>
+ #include <opencv2/viz.hpp>
+diff --git a/modules/viz/src/types.cpp b/modules/viz/src/types.cpp
+index 65571a1..e9a470c 100644
+--- a/modules/viz/src/types.cpp
++++ b/modules/viz/src/types.cpp
+@@ -97,10 +97,12 @@ cv::viz::Mesh cv::viz::Mesh::load(const String& file, int type)
+     // Now handle the polygons
+     vtkSmartPointer<vtkCellArray> polygons = polydata->GetPolys();
+     mesh.polygons.create(1, polygons->GetSize(), CV_32SC1);
++    mesh.polygons = 0;
+     int* poly_ptr = mesh.polygons.ptr<int>();
+ 
+     polygons->InitTraversal();
+-    vtkIdType nr_cell_points, *cell_points;
++    vtkIdType nr_cell_points;
++    CellIterT cell_points;
+     while (polygons->GetNextCell(nr_cell_points, cell_points))
+     {
+         *poly_ptr++ = nr_cell_points;
+--- a/modules/viz/src/vizimpl.cpp
++++ b/modules/viz/src/vizimpl.cpp
+@@ -55,8 +55,17 @@ cv::viz::Viz3d::VizImpl::VizImpl(const String &name) : spin_once_state_(false),
+ 
+     // Create render window
+     window_ = vtkSmartPointer<vtkRenderWindow>::New();
+-    cv::Vec2i window_size = cv::Vec2i(window_->GetScreenSize()) / 2;
+-    window_->SetSize(window_size.val);
++    int * sz = window_->GetScreenSize();
++    if (sz)
++    {
++        cv::Vec2i window_size = cv::Vec2i(sz) / 2;
++        window_->SetSize(window_size.val);
++    }
++    else
++    {
++        int new_sz[2] = { 640, 480 };
++        window_->SetSize(new_sz);
++    }
+     window_->AddRenderer(renderer_);
+ 
+     // Create the interactor style
+--- a/modules/viz/src/vtk/vtkOBJWriter.cpp
++++ b/modules/viz/src/vtk/vtkOBJWriter.cpp
+@@ -72,7 +72,7 @@ void cv::viz::vtkOBJWriter::WriteData()
+     }
+ 
+     vtkDebugMacro(<<"Opening vtk file for writing...");
+-    ostream *outfilep = new ofstream(this->FileName, ios::out);
++    std::ostream *outfilep = new std::ofstream(this->FileName, ios::out);
+     if (outfilep->fail())
+     {
+         vtkErrorMacro(<< "Unable to open file: "<< this->FileName);
+@@ -127,7 +127,8 @@ void cv::viz::vtkOBJWriter::WriteData()
+     // write out verts if any
+     if (input->GetNumberOfVerts() > 0)
+     {
+-        vtkIdType npts = 0, *index = 0;
++        vtkIdType npts = 0;
++        CellIterT index = 0;
+         vtkCellArray *cells = input->GetVerts();
+         for (cells->InitTraversal(); cells->GetNextCell(npts, index); )
+         {
+@@ -141,7 +142,8 @@ void cv::viz::vtkOBJWriter::WriteData()
+     // write out lines if any
+     if (input->GetNumberOfLines() > 0)
+     {
+-        vtkIdType npts = 0, *index = 0;
++        vtkIdType npts = 0;
++        CellIterT index = 0;
+         vtkCellArray *cells = input->GetLines();
+         for (cells->InitTraversal(); cells->GetNextCell(npts, index); )
+         {
+@@ -162,7 +164,8 @@ void cv::viz::vtkOBJWriter::WriteData()
+     // write out polys if any
+     if (input->GetNumberOfPolys() > 0)
+     {
+-        vtkIdType npts = 0, *index = 0;
++        vtkIdType npts = 0;
++        CellIterT index = 0;
+         vtkCellArray *cells = input->GetPolys();
+         for (cells->InitTraversal(); cells->GetNextCell(npts, index); )
+         {
+@@ -191,7 +194,8 @@ void cv::viz::vtkOBJWriter::WriteData()
+     // write out tstrips if any
+     if (input->GetNumberOfStrips() > 0)
+     {
+-        vtkIdType npts = 0, *index = 0;
++        vtkIdType npts = 0;
++        CellIterT index = 0;
+         vtkCellArray *cells = input->GetStrips();
+         for (cells->InitTraversal(); cells->GetNextCell(npts, index); )
+         {
+--- a/modules/viz/src/vtk/vtkXYZReader.cpp
++++ b/modules/viz/src/vtk/vtkXYZReader.cpp
+@@ -77,7 +77,7 @@ int cv::viz::vtkXYZReader::RequestData(vtkInformation*, vtkInformationVector**,
+     }
+ 
+     // Open the input file.
+-    ifstream fin(this->FileName);
++    std::ifstream fin(this->FileName);
+     if(!fin)
+     {
+         vtkErrorMacro("Error opening file " << this->FileName);
+--- a/modules/viz/src/vtk/vtkXYZWriter.cpp
++++ b/modules/viz/src/vtk/vtkXYZWriter.cpp
+@@ -69,7 +69,7 @@ void cv::viz::vtkXYZWriter::WriteData()
+     }
+ 
+     vtkDebugMacro(<<"Opening vtk file for writing...");
+-    ostream *outfilep = new ofstream(this->FileName, ios::out);
++    std::ostream *outfilep = new std::ofstream(this->FileName, ios::out);
+     if (outfilep->fail())
+     {
+         vtkErrorMacro(<< "Unable to open file: "<< this->FileName);
+--- a/modules/viz/test/test_tutorial2.cpp
++++ b/modules/viz/test/test_tutorial2.cpp
+@@ -28,7 +28,7 @@ static void tutorial2()
+     /// Rodrigues vector
+     Vec3d rot_vec = Vec3d::all(0);
+     double translation_phase = 0.0, translation = 0.0;
+-    while(!myWindow.wasStopped())
++    for(unsigned num = 0; num < 50; ++num)
+     {
+         /* Rotation using rodrigues */
+         /// Rotate around (1,1,1)
+@@ -45,7 +45,7 @@ static void tutorial2()
+ 
+         myWindow.setWidgetPose("Cube Widget", pose);
+ 
+-        myWindow.spinOnce(1, true);
++        myWindow.spinOnce(100, true);
+     }
+ }
+ 
+--- a/modules/viz/test/test_tutorial3.cpp
++++ b/modules/viz/test/test_tutorial3.cpp
+@@ -48,7 +48,7 @@ static void tutorial3(bool camera_pov)
+         myWindow.setViewerPose(camera_pose);
+ 
+     /// Start event loop.
+-    myWindow.spin();
++    myWindow.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, tutorial3_global_view)
+--- a/modules/viz/test/test_viz3d.cpp
++++ b/modules/viz/test/test_viz3d.cpp
+@@ -59,7 +59,7 @@ TEST(Viz_viz3d, DISABLED_develop)
+     //cv::Mat cloud = cv::viz::readCloud(get_dragon_ply_file_path());
+     //---->>>>> </to_test_in_future>
+ 
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ }} // namespace
+--- a/modules/viz/test/tests_simple.cpp
++++ b/modules/viz/test/tests_simple.cpp
+@@ -56,7 +56,7 @@ TEST(Viz, show_cloud_bluberry)
+     viz.showWidget("dragon", WCloud(dragon_cloud, Color::bluberry()), pose);
+ 
+     viz.showWidget("text2d", WText("Bluberry cloud", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_cloud_random_color)
+@@ -73,7 +73,7 @@ TEST(Viz, show_cloud_random_color)
+     viz.showWidget("coosys", WCoordinateSystem());
+     viz.showWidget("dragon", WCloud(dragon_cloud, colors), pose);
+     viz.showWidget("text2d", WText("Random color cloud", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_cloud_masked)
+@@ -91,7 +91,7 @@ TEST(Viz, show_cloud_masked)
+     viz.showWidget("coosys", WCoordinateSystem());
+     viz.showWidget("dragon", WCloud(dragon_cloud), pose);
+     viz.showWidget("text2d", WText("Nan masked cloud", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_cloud_collection)
+@@ -109,7 +109,7 @@ TEST(Viz, show_cloud_collection)
+     viz.showWidget("coosys", WCoordinateSystem());
+     viz.showWidget("ccol", ccol);
+     viz.showWidget("text2d", WText("Cloud collection", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_painted_clouds)
+@@ -124,7 +124,7 @@ TEST(Viz, show_painted_clouds)
+     viz.showWidget("cloud3", WPaintedCloud(cloud, Vec3d(0.0, 0.0, -1.0), Vec3d(0.0, 0.0, 1.0), Color::blue(), Color::red()));
+     viz.showWidget("arrow", WArrow(Vec3d(0.0, 1.0, -1.0), Vec3d(0.0, 1.0, 1.0), 0.009, Color::raspberry()));
+     viz.showWidget("text2d", WText("Painted clouds", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_mesh)
+@@ -137,7 +137,7 @@ TEST(Viz, show_mesh)
+     viz.showWidget("coosys", WCoordinateSystem());
+     viz.showWidget("mesh", WMesh(mesh), pose);
+     viz.showWidget("text2d", WText("Just mesh", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_mesh_random_colors)
+@@ -152,7 +152,7 @@ TEST(Viz, show_mesh_random_colors)
+     viz.showWidget("mesh", WMesh(mesh), pose);
+     viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
+     viz.showWidget("text2d", WText("Random color mesh", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_widget_merger)
+@@ -173,7 +173,7 @@ TEST(Viz, show_widget_merger)
+     viz.showWidget("coo", WCoordinateSystem());
+     viz.showWidget("merger", merger);
+     viz.showWidget("text2d", WText("Widget merger", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_textured_mesh)
+@@ -210,7 +210,7 @@ TEST(Viz, show_textured_mesh)
+     viz.showWidget("mesh", WMesh(mesh));
+     viz.setRenderingProperty("mesh", SHADING, SHADING_PHONG);
+     viz.showWidget("text2d", WText("Textured mesh", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_polyline)
+@@ -229,7 +229,7 @@ TEST(Viz, show_polyline)
+     viz.showWidget("polyline", WPolyLine(polyline, colors));
+     viz.showWidget("coosys", WCoordinateSystem());
+     viz.showWidget("text2d", WText("Polyline", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_sampled_normals)
+@@ -244,7 +244,7 @@ TEST(Viz, show_sampled_normals)
+     viz.showWidget("normals", WCloudNormals(mesh.cloud, mesh.normals, 30, 0.1f, Color::green()), pose);
+     viz.setRenderingProperty("normals", LINE_WIDTH, 2.0);
+     viz.showWidget("text2d", WText("Cloud or mesh normals", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_cloud_shaded_by_normals)
+@@ -260,7 +260,7 @@ TEST(Viz, show_cloud_shaded_by_normals)
+     Viz3d viz("show_cloud_shaded_by_normals");
+     viz.showWidget("cloud", cloud, pose);
+     viz.showWidget("text2d", WText("Cloud shaded by normals", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_trajectories)
+@@ -287,15 +287,15 @@ TEST(Viz, show_trajectories)
+     viz.showWidget("text2d", WText("Different kinds of supported trajectories", Point(20, 20), 20, Color::green()));
+ 
+     int i = 0;
+-    while(!viz.wasStopped())
++    for(unsigned num = 0; num < 50; ++num)
+     {
+         double a = --i % 360;
+         Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
+         viz.setViewerPose(makeCameraPose(pose * 7.5, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
+-        viz.spinOnce(20, true);
++        viz.spinOnce(100, true);
+     }
+     viz.resetCamera();
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_trajectory_reposition)
+@@ -306,7 +306,7 @@ TEST(Viz, show_trajectory_reposition)
+     viz.showWidget("coos", WCoordinateSystem());
+     viz.showWidget("sub3", WTrajectory(Mat(path).rowRange(0, (int)path.size()/3), WTrajectory::BOTH, 0.2, Color::brown()), path.front().inv());
+     viz.showWidget("text2d", WText("Trajectory resposition to origin", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_camera_positions)
+@@ -330,7 +330,7 @@ TEST(Viz, show_camera_positions)
+     viz.showWidget("pos3", WCameraPosition(0.75), poses[1]);
+     viz.showWidget("pos4", WCameraPosition(K, gray, 3, Color::indigo()), poses[1]);
+     viz.showWidget("text2d", WText("Camera positions with images", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_overlay_image)
+@@ -353,16 +353,16 @@ TEST(Viz, show_overlay_image)
+     viz.showWidget("text2d", WText("Overlay images", Point(20, 20), 20, Color::green()));
+ 
+     int i = 0;
+-    while(!viz.wasStopped())
++    for(unsigned num = 0; num < 50; ++num)
+     {
+         double a = ++i % 360;
+         Vec3d pose(sin(a * CV_PI/180), 0.7, cos(a * CV_PI/180));
+         viz.setViewerPose(makeCameraPose(pose * 3, Vec3d(0.0, 0.5, 0.0), Vec3d(0.0, 0.1, 0.0)));
+         viz.getWidget("img1").cast<WImageOverlay>().setImage(lena * pow(sin(i*10*CV_PI/180) * 0.5 + 0.5, 1.0));
+-        viz.spinOnce(1, true);
++        viz.spinOnce(100, true);
+     }
+     viz.showWidget("text2d", WText("Overlay images (stopped)", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ 
+@@ -376,7 +376,7 @@ TEST(Viz, show_image_method)
+     viz.showImage(lena, lena.size());
+     viz.spinOnce(1500, true);
+ 
+-    cv::viz::imshow("show_image_method", make_gray(lena)).spin();
++    cv::viz::imshow("show_image_method", make_gray(lena)).spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_image_3d)
+@@ -398,13 +398,13 @@ TEST(Viz, show_image_3d)
+     viz.showWidget("text2d", WText("Images in 3D", Point(20, 20), 20, Color::green()));
+ 
+     int i = 0;
+-    while(!viz.wasStopped())
++    for(unsigned num = 0; num < 50; ++num)
+     {
+         viz.getWidget("img0").cast<WImage3D>().setImage(lena * pow(sin(i++*7.5*CV_PI/180) * 0.5 + 0.5, 1.0));
+-        viz.spinOnce(1, true);
++        viz.spinOnce(100, true);
+     }
+     viz.showWidget("text2d", WText("Images in 3D (stopped)", Point(20, 20), 20, Color::green()));
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_simple_widgets)
+@@ -431,10 +431,10 @@ TEST(Viz, show_simple_widgets)
+ 
+     viz.showWidget("grid1", WGrid(Vec2i(7,7), Vec2d::all(0.75), Color::gray()), Affine3d().translate(Vec3d(0.0, 0.0, -1.0)));
+ 
+-    viz.spin();
++    viz.spinOnce(500, true);
+     viz.getWidget("text2d").cast<WText>().setText("Different simple widgets (updated)");
+     viz.getWidget("text3d").cast<WText3D>().setText("Updated text 3D");
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ TEST(Viz, show_follower)
+@@ -446,9 +446,9 @@ TEST(Viz, show_follower)
+     viz.showWidget("t3d_2", WText3D("Simple 3D follower", Point3d(-0.5, -0.5, 0.5), 0.125, true,  Color::green()));
+     viz.showWidget("text2d", WText("Follower: text always facing camera", Point(20, 20), 20, Color::green()));
+     viz.setBackgroundMeshLab();
+-    viz.spin();
++    viz.spinOnce(500, true);
+     viz.getWidget("t3d_2").cast<WText3D>().setText("Updated follower 3D");
+-    viz.spin();
++    viz.spinOnce(500, true);
+ }
+ 
+ }} // namespace

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/0006-fix-uwp.patch

@@ -0,0 +1,11 @@
+--- a/cmake/OpenCVModule.cmake
++++ b/cmake/OpenCVModule.cmake
+@@ -1188,7 +1188,7 @@ function(ocv_add_perf_tests)
+         set_target_properties(${the_target} PROPERTIES FOLDER "tests performance")
+       endif()
+ 
+-      if(WINRT)
++      if(WINRT AND BUILD_TESTS)
+         # removing APPCONTAINER from tests to run from console
+         # look for detailed description inside of ocv_create_module macro above
+         add_custom_command(TARGET "opencv_perf_${name}"

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/0007-fix-hdf5.patch

@@ -0,0 +1,28 @@
+--- a/modules/hdf/CMakeLists.txt
++++ b/modules/hdf/CMakeLists.txt
+@@ -1,25 +1,8 @@
+ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR})
+ 
+-if(WIN32)
+-  # windows cmake internal lookups are broken for now
+-  # will lookup for headers and shared libs given HDF_DIR env
+-  find_path(HDF5_INCLUDE_DIRS hdf5.h HINTS "$ENV{HDF5_DIR}\\..\\include")
+-  find_library(HDF5_C_LIBRARY NAMES hdf5 HINTS "$ENV{HDF5_DIR}\\..\\lib")
+-  if(HDF5_INCLUDE_DIRS AND HDF5_C_LIBRARY)
+-    set(HDF5_FOUND "YES")
+-    set(HDF5_LIBRARIES ${HDF5_C_LIBRARY})
+-    mark_as_advanced(HDF5_LIBRARIES)
+-    mark_as_advanced(HDF5_C_LIBRARY)
+-    mark_as_advanced(HDF5_INCLUDE_DIRS)
+-    add_definitions(-DH5_BUILT_AS_DYNAMIC_LIB -D_HDF5USEDLL_)
+-  else()
+-     set(HDF5_FOUND "NO")
+-  endif()
+-else()
+   if(NOT CMAKE_CROSSCOMPILING) # iOS build should not reuse OSX package
+     find_package(HDF5)
+   endif()
+-endif()
+ 
+ if(NOT HDF5_FOUND)
+     ocv_module_disable(hdf) # no return

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/0008-devendor-quirc.patch

@@ -0,0 +1,22 @@
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -778,7 +778,7 @@ if(WITH_OPENVX)
+ endif()
+ 
+ if(WITH_QUIRC)
+-  add_subdirectory(3rdparty/quirc)
++  find_package(quirc CONFIG REQUIRED)
+   set(HAVE_QUIRC TRUE)
+ endif()
+ # ----------------------------------------------------------------------------
+--- a/modules/objdetect/CMakeLists.txt
++++ b/modules/objdetect/CMakeLists.txt
+@@ -2,7 +2,5 @@ set(the_description "Object Detection")
+ ocv_define_module(objdetect opencv_core opencv_imgproc opencv_calib3d WRAP java python js)
+ 
+ if(HAVE_QUIRC)
+-    get_property(QUIRC_INCLUDE GLOBAL PROPERTY QUIRC_INCLUDE_DIR)
+-    ocv_include_directories(${QUIRC_INCLUDE})
+-    ocv_target_link_libraries(${the_module} quirc)
++    ocv_target_link_libraries(${the_module} quirc::quirc)
+ endif()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/0009-fix-protobuf.patch

@@ -0,0 +1,26 @@
+--- a/cmake/OpenCVFindProtobuf.cmake
++++ b/cmake/OpenCVFindProtobuf.cmake
+@@ -31,7 +31,7 @@ if(BUILD_PROTOBUF)
+   set(HAVE_PROTOBUF TRUE)
+ else()
+   unset(Protobuf_VERSION CACHE)
+-  find_package(Protobuf QUIET)
++  find_package(Protobuf CONFIG REQUIRED)
+
+   # Backwards compatibility
+   # Define camel case versions of input variables
+@@ -76,6 +76,7 @@ if(HAVE_PROTOBUF)
+   if(NOT BUILD_PROTOBUF)
+     if(TARGET "${Protobuf_LIBRARIES}")
+       get_target_property(__location "${Protobuf_LIBRARIES}" IMPORTED_LOCATION_RELEASE)
++      get_target_property(__location_debug "${Protobuf_LIBRARIES}" IMPORTED_LOCATION_DEBUG)
+       if(NOT __location)
+         get_target_property(__location "${Protobuf_LIBRARIES}" IMPORTED_LOCATION)
+       endif()
+@@ -87,5 +88,5 @@ if(HAVE_PROTOBUF)
+   endif()
+   list(APPEND CUSTOM_STATUS_protobuf "    Protobuf:"
+     BUILD_PROTOBUF THEN "build (${Protobuf_VERSION})"
+-    ELSE "${__location} (${Protobuf_VERSION})")
++    ELSE "optimized ${__location} debug ${__location_debug} ; version (${Protobuf_VERSION})")
+ endif()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/0010-fix-uwp-tiff-imgcodecs.patch

@@ -0,0 +1,13 @@
+--- a/modules/imgcodecs/CMakeLists.txt
++++ b/modules/imgcodecs/CMakeLists.txt
+@@ -9,6 +9,10 @@ ocv_add_module(imgcodecs opencv_imgproc WRAP java objc python)
+ 
+ ocv_clear_vars(GRFMT_LIBS)
+ 
++if(MSVC)
++   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4996")
++endif()
++
+ if(HAVE_WINRT_CX AND NOT WINRT)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /ZW")
+ endif()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/0011-remove-python2.patch

@@ -0,0 +1,18 @@
+--- a/cmake/OpenCVDetectPython.cmake
++++ b/cmake/OpenCVDetectPython.cmake
+@@ -268,15 +268,6 @@ if(OPENCV_PYTHON_SKIP_DETECTION)
+   return()
+ endif()
+
+-find_python("" "${MIN_VER_PYTHON2}" PYTHON2_LIBRARY PYTHON2_INCLUDE_DIR
+-    PYTHON2INTERP_FOUND PYTHON2_EXECUTABLE PYTHON2_VERSION_STRING
+-    PYTHON2_VERSION_MAJOR PYTHON2_VERSION_MINOR PYTHON2LIBS_FOUND
+-    PYTHON2LIBS_VERSION_STRING PYTHON2_LIBRARIES PYTHON2_LIBRARY
+-    PYTHON2_DEBUG_LIBRARIES PYTHON2_LIBRARY_DEBUG PYTHON2_INCLUDE_PATH
+-    PYTHON2_INCLUDE_DIR PYTHON2_INCLUDE_DIR2 PYTHON2_PACKAGES_PATH
+-    PYTHON2_NUMPY_INCLUDE_DIRS PYTHON2_NUMPY_VERSION)
+-
+-option(OPENCV_PYTHON3_VERSION "Python3 version" "")
+ find_python("${OPENCV_PYTHON3_VERSION}" "${MIN_VER_PYTHON3}" PYTHON3_LIBRARY PYTHON3_INCLUDE_DIR
+     PYTHON3INTERP_FOUND PYTHON3_EXECUTABLE PYTHON3_VERSION_STRING
+     PYTHON3_VERSION_MAJOR PYTHON3_VERSION_MINOR PYTHON3LIBS_FOUND

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/0012-fix-zlib.patch

@@ -0,0 +1,14 @@
+diff --git a/cmake/OpenCVFindLibsGrfmt.cmake b/cmake/OpenCVFindLibsGrfmt.cmake
+index 6dbeca9..08e2f4a 100644
+--- a/cmake/OpenCVFindLibsGrfmt.cmake
++++ b/cmake/OpenCVFindLibsGrfmt.cmake
+@@ -5,6 +5,9 @@
+ # --- zlib (required) ---
+ if(BUILD_ZLIB)
+   ocv_clear_vars(ZLIB_FOUND)
++elseif(1)
++  ocv_clear_internal_cache_vars(ZLIB_LIBRARY ZLIB_INCLUDE_DIR)
++  find_package(ZLIB "${MIN_VER_ZLIB}" REQUIRED)
+ else()
+   ocv_clear_internal_cache_vars(ZLIB_LIBRARY ZLIB_INCLUDE_DIR)
+   if(ANDROID)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/portfile.cmake

@@ -0,0 +1,535 @@
+if (EXISTS "${CURRENT_INSTALLED_DIR}/share/opencv2")
+  message(FATAL_ERROR "OpenCV 2 is installed, please uninstall and try again:\n    vcpkg remove opencv2")
+endif()
+
+if (EXISTS "${CURRENT_INSTALLED_DIR}/share/opencv4")
+  message(FATAL_ERROR "OpenCV 4 is installed, please uninstall and try again:\n    vcpkg remove opencv4")
+endif()
+
+file(READ "${CMAKE_CURRENT_LIST_DIR}/vcpkg.json" _contents)
+string(JSON OPENCV_VERSION GET "${_contents}" version)
+
+set(USE_QT_VERSION "5")
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO opencv/opencv
+    REF ${OPENCV_VERSION}
+    SHA512 2fa9243625309a1c12c916737c94f0e2f9566f0828469b148cc1683dd1b8db8d1d58f90a36cfcaa72052964a718929451f04cda5361d8b546a63da69217d040a
+    HEAD_REF master
+    PATCHES
+      0001-disable-downloading.patch
+      0002-install-options.patch
+      0003-force-package-requirements.patch
+      0004-fix-eigen.patch
+      0005-fix-vtk9.patch
+      0006-fix-uwp.patch
+      0008-devendor-quirc.patch
+      0009-fix-protobuf.patch
+      0010-fix-uwp-tiff-imgcodecs.patch
+      0011-remove-python2.patch
+      0012-fix-zlib.patch
+)
+
+if(VCPKG_TARGET_ARCHITECTURE STREQUAL "arm64")
+  set(TARGET_IS_AARCH64 1)
+elseif(VCPKG_TARGET_ARCHITECTURE STREQUAL "arm")
+  set(TARGET_IS_ARM 1)
+elseif(VCPKG_TARGET_ARCHITECTURE STREQUAL "x64")
+  set(TARGET_IS_X86_64 1)
+else()
+  set(TARGET_IS_X86 1)
+endif()
+
+file(REMOVE "${SOURCE_PATH}/cmake/FindCUDNN.cmake")
+
+string(COMPARE EQUAL "${VCPKG_CRT_LINKAGE}" "static" BUILD_WITH_STATIC_CRT)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+ FEATURES
+ "contrib"   WITH_CONTRIB
+ "cuda"      WITH_CUBLAS
+ "cuda"      WITH_CUDA
+ "dnn"       BUILD_opencv_dnn
+ "eigen"     WITH_EIGEN
+ "ffmpeg"    WITH_FFMPEG
+ "flann"     BUILD_opencv_flann
+ "gdcm"      WITH_GDCM
+ "gstreamer" WITH_GSTREAMER
+ "halide"    WITH_HALIDE
+ "jasper"    WITH_JASPER
+ "jpeg"      WITH_JPEG
+ "lapack"    WITH_LAPACK
+ "nonfree"   OPENCV_ENABLE_NONFREE
+ "openexr"   WITH_OPENEXR
+ "opengl"    WITH_OPENGL
+ "png"       WITH_PNG
+ "quirc"     WITH_QUIRC
+ "sfm"       BUILD_opencv_sfm
+ "tiff"      WITH_TIFF
+ "vtk"       WITH_VTK
+ "webp"      WITH_WEBP
+ "world"     BUILD_opencv_world
+)
+
+# Cannot use vcpkg_check_features() for "dnn", "gtk", "ipp", ovis", "python", "qt", "tbb"
+set(BUILD_opencv_dnn OFF)
+if("dnn" IN_LIST FEATURES)
+  if(NOT VCPKG_TARGET_IS_ANDROID)
+    set(BUILD_opencv_dnn ON)
+  else()
+    message(WARNING "The dnn module cannot be enabled on Android")
+  endif()
+endif()
+
+set(WITH_GTK OFF)
+if("gtk" IN_LIST FEATURES)
+  if(VCPKG_TARGET_IS_LINUX)
+    set(WITH_GTK ON)
+  else()
+    message(WARNING "The gtk module cannot be enabled outside Linux")
+  endif()
+endif()
+
+set(WITH_QT OFF)
+if("qt" IN_LIST FEATURES)
+  set(WITH_QT ${USE_QT_VERSION})
+endif()
+
+set(WITH_IPP OFF)
+if("ipp" IN_LIST FEATURES)
+  set(WITH_IPP ON)
+endif()
+
+set(BUILD_opencv_ovis OFF)
+if("ovis" IN_LIST FEATURES)
+  set(BUILD_opencv_ovis ON)
+endif()
+
+set(WITH_TBB OFF)
+if("tbb" IN_LIST FEATURES)
+  set(WITH_TBB ON)
+endif()
+
+set(WITH_PYTHON OFF)
+if("python" IN_LIST FEATURES)
+  set(WITH_PYTHON ON)
+  vcpkg_find_acquire_program(PYTHON3)
+  get_filename_component(PYTHON3_DIR "${PYTHON3}" DIRECTORY)
+  vcpkg_add_to_path("${PYTHON3_DIR}")
+  vcpkg_add_to_path("${PYTHON3_DIR}/Scripts")
+  set(ENV{PYTHON} "${PYTHON3}")
+
+  function(vcpkg_get_python_package PYTHON_DIR )
+      cmake_parse_arguments(PARSE_ARGV 0 _vgpp "" "PYTHON_EXECUTABLE" "PACKAGES")
+
+      if(NOT _vgpp_PYTHON_EXECUTABLE)
+          message(FATAL_ERROR "${CMAKE_CURRENT_FUNCTION} requires parameter PYTHON_EXECUTABLE!")
+      endif()
+      if(NOT _vgpp_PACKAGES)
+          message(FATAL_ERROR "${CMAKE_CURRENT_FUNCTION} requires parameter PACKAGES!")
+      endif()
+      if(NOT _vgpp_PYTHON_DIR)
+          get_filename_component(_vgpp_PYTHON_DIR "${_vgpp_PYTHON_EXECUTABLE}" DIRECTORY)
+      endif()
+
+      if (WIN32)
+          set(PYTHON_OPTION "")
+      else()
+          set(PYTHON_OPTION "--user")
+      endif()
+
+      if(NOT EXISTS "${_vgpp_PYTHON_DIR}/easy_install${VCPKG_HOST_EXECUTABLE_SUFFIX}")
+          if(NOT EXISTS "${_vgpp_PYTHON_DIR}/Scripts/pip${VCPKG_HOST_EXECUTABLE_SUFFIX}")
+              vcpkg_from_github(
+                  OUT_SOURCE_PATH PYFILE_PATH
+                  REPO pypa/get-pip
+                  REF 309a56c5fd94bd1134053a541cb4657a4e47e09d #2019-08-25
+                  SHA512 bb4b0745998a3205cd0f0963c04fb45f4614ba3b6fcbe97efe8f8614192f244b7ae62705483a5305943d6c8fedeca53b2e9905aed918d2c6106f8a9680184c7a
+                  HEAD_REF master
+              )
+              execute_process(COMMAND "${_vgpp_PYTHON_EXECUTABLE}" "${PYFILE_PATH}/get-pip.py" ${PYTHON_OPTION})
+          endif()
+          foreach(_package IN LISTS _vgpp_PACKAGES)
+              execute_process(COMMAND "${_vgpp_PYTHON_DIR}/Scripts/pip${VCPKG_HOST_EXECUTABLE_SUFFIX}" install ${_package} ${PYTHON_OPTION})
+          endforeach()
+      else()
+          foreach(_package IN LISTS _vgpp_PACKAGES)
+              execute_process(COMMAND "${_vgpp_PYTHON_DIR}/easy_install${VCPKG_HOST_EXECUTABLE_SUFFIX}" ${_package})
+          endforeach()
+      endif()
+  endfunction()
+  vcpkg_get_python_package(PYTHON_EXECUTABLE "${PYTHON3}" PACKAGES numpy)
+endif()
+
+if("dnn" IN_LIST FEATURES)
+  vcpkg_download_distfile(TINYDNN_ARCHIVE
+    URLS "https://github.com/tiny-dnn/tiny-dnn/archive/v1.0.0a3.tar.gz"
+    FILENAME "opencv-cache/tiny_dnn/adb1c512e09ca2c7a6faef36f9c53e59-v1.0.0a3.tar.gz"
+    SHA512 5f2c1a161771efa67e85b1fea395953b7744e29f61187ac5a6c54c912fb195b3aef9a5827135c3668bd0eeea5ae04a33cc433e1f6683e2b7955010a2632d168b
+  )
+endif()
+
+# Build image quality module when building with 'contrib' feature and not UWP.
+set(BUILD_opencv_quality OFF)
+if("contrib" IN_LIST FEATURES)
+  if (VCPKG_TARGET_IS_UWP)
+    set(BUILD_opencv_quality OFF)
+    message(WARNING "The image quality module (quality) does not build for UWP, the module has been disabled.")
+    # The hdf module is silently disabled by OpenCVs buildsystem if HDF5 is not detected.
+    message(WARNING "The hierarchical data format module (hdf) depends on HDF5 which doesn't support UWP, the module has been disabled.")
+  else()
+    set(BUILD_opencv_quality CMAKE_DEPENDS_IN_PROJECT_ONLY)
+  endif()
+
+  vcpkg_from_github(
+      OUT_SOURCE_PATH CONTRIB_SOURCE_PATH
+      REPO opencv/opencv_contrib
+      REF ${OPENCV_VERSION}
+      SHA512 31bd55617d3a54fa020d4255e463c90caf41e10136c82a05c24ee19890f0cdc4fc049136874841dc84037dedb0562471ea0345ab1dcd5ad8a5b0218f24ae9a35
+      HEAD_REF master
+      PATCHES
+        0007-fix-hdf5.patch
+  )
+  set(BUILD_WITH_CONTRIB_FLAG "-DOPENCV_EXTRA_MODULES_PATH=${CONTRIB_SOURCE_PATH}/modules")
+
+  vcpkg_download_distfile(OCV_DOWNLOAD
+    URLS "https://raw.githubusercontent.com/opencv/opencv_3rdparty/8afa57abc8229d611c4937165d20e2a2d9fc5a12/face_landmark_model.dat"
+    FILENAME "opencv-cache/data/7505c44ca4eb54b4ab1e4777cb96ac05-face_landmark_model.dat"
+    SHA512 c16e60a6c4bb4de3ab39b876ae3c3f320ea56f69c93e9303bd2dff8760841dcd71be4161fff8bc71e8fe4fe8747fa8465d49d6bd8f5ebcdaea161f4bc2da7c93
+  )
+
+  function(download_opencv_3rdparty ID COMMIT HASH)
+    if(NOT EXISTS "${DOWNLOADS}/opencv-cache/${ID}/${COMMIT}.stamp")
+      vcpkg_download_distfile(OCV_DOWNLOAD
+          URLS "https://github.com/opencv/opencv_3rdparty/archive/${COMMIT}.zip"
+          FILENAME "opencv_3rdparty-${COMMIT}.zip"
+          SHA512 ${HASH}
+      )
+      vcpkg_extract_source_archive(extracted_ocv ARCHIVE "${OCV_DOWNLOAD}")
+      file(MAKE_DIRECTORY "${DOWNLOADS}/opencv-cache/${ID}")
+      file(GLOB XFEATURES2D_I "${extracted_ocv}/*")
+      foreach(FILE ${XFEATURES2D_I})
+        file(COPY ${FILE} DESTINATION "${DOWNLOADS}/opencv-cache/${ID}")
+        get_filename_component(XFEATURES2D_I_NAME "${FILE}" NAME)
+        file(MD5 "${FILE}" FILE_HASH)
+        file(RENAME "${DOWNLOADS}/opencv-cache/${ID}/${XFEATURES2D_I_NAME}" "${DOWNLOADS}/opencv-cache/${ID}/${FILE_HASH}-${XFEATURES2D_I_NAME}")
+      endforeach()
+      file(WRITE "${DOWNLOADS}/opencv-cache/${ID}/${COMMIT}.stamp")
+    endif()
+  endfunction()
+
+  # Used for opencv's xfeature2d module
+  download_opencv_3rdparty(
+    xfeatures2d/boostdesc
+    34e4206aef44d50e6bbcd0ab06354b52e7466d26
+    2ccdc8fb59da55eabc73309a80a4d3b1e73e2341027cdcdd2d714e0f519e60f243f38f79b13ed3de32f595aa23e4f86418eed42e741f32a81b1e6e0879190601
+  )
+
+  # Used for opencv's xfeature2d module
+  download_opencv_3rdparty(
+    xfeatures2d/vgg
+    fccf7cd6a4b12079f73bbfb21745f9babcd4eb1d
+    7051f5d6ccb938d296b919dd6d5dcddc5afb527aed456639c9984276a8f64565c084d96a72499a7756f127f8d2b1ce9ab70e4cbb3f89c4e16f82296c2a15daed
+  )
+endif()
+
+if(WITH_IPP)
+  if(VCPKG_TARGET_IS_OSX)
+    if(VCPKG_TARGET_ARCHITECTURE STREQUAL "x64")
+      vcpkg_download_distfile(OCV_DOWNLOAD
+        URLS "https://raw.githubusercontent.com/opencv/opencv_3rdparty/a56b6ac6f030c312b2dce17430eef13aed9af274/ippicv/ippicv_2020_mac_intel64_20191018_general.tgz"
+        FILENAME "opencv-cache/ippicv/1c3d675c2a2395d094d523024896e01b-ippicv_2020_mac_intel64_20191018_general.tgz"
+        SHA512 454dfaaa245e3a3b2f1ffb1aa8e27e280b03685009d66e147482b14e5796fdf2d332cac0f9b0822caedd5760fda4ee0ce2961889597456bbc18202f10bf727cd
+    )
+    else()
+      message(WARNING "This target architecture is not supported IPPICV")
+      set(WITH_IPP OFF)
+    endif()
+  elseif(VCPKG_TARGET_IS_LINUX)
+    if(VCPKG_TARGET_ARCHITECTURE STREQUAL "x64")
+      vcpkg_download_distfile(OCV_DOWNLOAD
+        URLS "https://raw.githubusercontent.com/opencv/opencv_3rdparty/a56b6ac6f030c312b2dce17430eef13aed9af274/ippicv/ippicv_2020_lnx_intel64_20191018_general.tgz"
+        FILENAME "opencv-cache/ippicv/7421de0095c7a39162ae13a6098782f9-ippicv_2020_lnx_intel64_20191018_general.tgz"
+        SHA512 de6d80695cd6deef359376476edc4ff85fdddcf94972b936e0017f8a48aaa5d18f55c4253ae37deb83bff2f71410f68408063c88b5f3bf4df3c416aa93ceca87
+      )
+    elseif(VCPKG_TARGET_ARCHITECTURE STREQUAL "x86")
+      vcpkg_download_distfile(OCV_DOWNLOAD
+        URLS "https://raw.githubusercontent.com/opencv/opencv_3rdparty/a56b6ac6f030c312b2dce17430eef13aed9af274/ippicv/ippicv_2020_lnx_ia32_20191018_general.tgz"
+        FILENAME "opencv-cache/ippicv/ad189a940fb60eb71f291321322fe3e8-ippicv_2020_lnx_ia32_20191018_general.tgz"
+        SHA512 5ca9dafc3a634e2a5f83f6a498611c990ef16d54358e9b44574b01694e9d64b118d46d6e2011506e40d37e5a9865f576f790e37ff96b7c8b503507633631a296
+      )
+    else()
+      message(WARNING "This target architecture is not supported IPPICV")
+      set(WITH_IPP OFF)
+    endif()
+  elseif(VCPKG_TARGET_IS_WINDOWS)
+    if(VCPKG_TARGET_ARCHITECTURE STREQUAL "x64")
+      vcpkg_download_distfile(OCV_DOWNLOAD
+        URLS "https://raw.githubusercontent.com/opencv/opencv_3rdparty/a56b6ac6f030c312b2dce17430eef13aed9af274/ippicv/ippicv_2020_win_intel64_20191018_general.zip"
+        FILENAME "opencv-cache/ippicv/879741a7946b814455eee6c6ffde2984-ippicv_2020_win_intel64_20191018_general.zip"
+        SHA512 50c4af4b7fe2161d652264230389dad2330e8c95b734d04fb7565bffdab855c06d43085e480da554c56b04f8538087d49503538d5943221ee2a772ee7be4c93c
+      )
+    elseif(VCPKG_TARGET_ARCHITECTURE STREQUAL "x86")
+      vcpkg_download_distfile(OCV_DOWNLOAD
+        URLS "https://raw.githubusercontent.com/opencv/opencv_3rdparty/a56b6ac6f030c312b2dce17430eef13aed9af274/ippicv/ippicv_2020_win_ia32_20191018_general.zip"
+        FILENAME "opencv-cache/ippicv/cd39bdf0c2e1cac9a61101dad7a2413e-ippicv_2020_win_ia32_20191018_general.zip"
+        SHA512 058d00775d9f16955c7a557d554b8c2976ab9dbad4ba3fdb9823c0f768809edbd835e4397f01dc090a9bc80d81de834375e7006614d2a898f42e8004de0e04bf
+      )
+    else()
+      message(WARNING "This target architecture is not supported IPPICV")
+      set(WITH_IPP OFF)
+    endif()
+  else()
+    message(WARNING "This target architecture is not supported IPPICV")
+    set(WITH_IPP OFF)
+  endif()
+endif()
+
+set(WITH_MSMF ON)
+if(NOT VCPKG_TARGET_IS_WINDOWS OR VCPKG_TARGET_IS_UWP)
+  set(WITH_MSMF OFF)
+endif()
+
+if (VCPKG_LIBRARY_LINKAGE STREQUAL static)
+  if (WITH_TBB)
+    message(WARNING "TBB is currently unsupported in this build configuration, turning it off")
+    set(WITH_TBB OFF)
+  endif()
+
+  if (VCPKG_TARGET_IS_WINDOWS AND BUILD_opencv_ovis)
+    message(WARNING "OVIS is currently unsupported in this build configuration, turning it off")
+    set(BUILD_opencv_ovis OFF)
+  endif()
+endif()
+
+if("ffmpeg" IN_LIST FEATURES)
+  if(VCPKG_TARGET_IS_UWP)
+    set(VCPKG_C_FLAGS "/sdl- ${VCPKG_C_FLAGS}")
+    set(VCPKG_CXX_FLAGS "/sdl- ${VCPKG_CXX_FLAGS}")
+  endif()
+endif()
+
+if("qt" IN_LIST FEATURES)
+  list(APPEND ADDITIONAL_BUILD_FLAGS "-DCMAKE_AUTOMOC=ON")
+endif()
+
+set(BUILD_opencv_line_descriptor ON)
+set(BUILD_opencv_saliency ON)
+set(BUILD_opencv_bgsegm ON)
+if(VCPKG_TARGET_ARCHITECTURE MATCHES "arm")
+  set(BUILD_opencv_line_descriptor OFF)
+  set(BUILD_opencv_saliency OFF)
+  set(BUILD_opencv_bgsegm OFF)
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        ###### opencv cpu recognition is broken, always using host and not target: here we bypass that
+        -DOPENCV_SKIP_SYSTEM_PROCESSOR_DETECTION=TRUE
+        -DAARCH64=${TARGET_IS_AARCH64}
+        -DX86_64=${TARGET_IS_X86_64}
+        -DX86=${TARGET_IS_X86}
+        -DARM=${TARGET_IS_ARM}
+        ###### ocv_options
+        -DOpenCV_INSTALL_BINARIES_PREFIX=
+        -DOPENCV_BIN_INSTALL_PATH=bin
+        -DOPENCV_INCLUDE_INSTALL_PATH=include
+        -DOPENCV_LIB_INSTALL_PATH=lib
+        -DOPENCV_3P_LIB_INSTALL_PATH=lib
+        -DOPENCV_CONFIG_INSTALL_PATH=share/opencv
+        -DINSTALL_TO_MANGLED_PATHS=OFF
+        -DOPENCV_FFMPEG_USE_FIND_PACKAGE=FFMPEG
+        -DOPENCV_FFMPEG_SKIP_BUILD_CHECK=TRUE
+        -DCMAKE_DEBUG_POSTFIX=d
+        -DOPENCV_DLLVERSION=
+        -DOPENCV_DEBUG_POSTFIX=d
+        -DOPENCV_GENERATE_SETUPVARS=OFF
+        # Do not build docs/examples
+        -DBUILD_DOCS=OFF
+        -DBUILD_EXAMPLES=OFF
+        ###### Disable build 3rd party libs
+        -DBUILD_JASPER=OFF
+        -DBUILD_JPEG=OFF
+        -DBUILD_OPENEXR=OFF
+        -DBUILD_PNG=OFF
+        -DBUILD_TIFF=OFF
+        -DBUILD_WEBP=OFF
+        -DBUILD_ZLIB=OFF
+        -DBUILD_TBB=OFF
+        -DBUILD_IPP_IW=OFF
+        -DBUILD_ITT=OFF
+        ###### Disable build 3rd party components
+        -DBUILD_PROTOBUF=OFF
+        ###### OpenCV Build components
+        -DBUILD_opencv_apps=OFF
+        -DBUILD_opencv_bgsegm=${BUILD_opencv_bgsegm}
+        -DBUILD_opencv_line_descriptor=${BUILD_opencv_line_descriptor}
+        -DBUILD_opencv_saliency=${BUILD_opencv_saliency}
+        -DBUILD_ANDROID_PROJECT=OFF
+        -DBUILD_ANDROID_EXAMPLES=OFF
+        -DBUILD_PACKAGE=OFF
+        -DBUILD_PERF_TESTS=OFF
+        -DBUILD_TESTS=OFF
+        -DBUILD_WITH_DEBUG_INFO=ON
+        -DBUILD_WITH_STATIC_CRT=${BUILD_WITH_STATIC_CRT}
+        -DBUILD_JAVA=OFF
+        -DCURRENT_INSTALLED_DIR=${CURRENT_INSTALLED_DIR}
+        ###### PROTOBUF
+        -DPROTOBUF_UPDATE_FILES=${BUILD_opencv_flann}
+        -DUPDATE_PROTO_FILES=${BUILD_opencv_flann}
+        ###### PYLINT/FLAKE8
+        -DENABLE_PYLINT=OFF
+        -DENABLE_FLAKE8=OFF
+        # CMAKE
+        -DCMAKE_DISABLE_FIND_PACKAGE_Git=ON
+        -DCMAKE_DISABLE_FIND_PACKAGE_JNI=ON
+        # ENABLE
+        -DENABLE_CXX11=ON
+        ###### OPENCV vars
+        "-DOPENCV_DOWNLOAD_PATH=${DOWNLOADS}/opencv-cache"
+        ${BUILD_WITH_CONTRIB_FLAG}
+        -DOPENCV_OTHER_INSTALL_PATH=share/opencv
+        ###### customized properties
+        ## Options from vcpkg_check_features()
+        ${FEATURE_OPTIONS}
+        -DCMAKE_DISABLE_FIND_PACKAGE_Halide=ON
+        -DHALIDE_ROOT_DIR=${CURRENT_INSTALLED_DIR}
+        -DWITH_GTK=${WITH_GTK}
+        -DWITH_QT=${WITH_QT}
+        -DWITH_IPP=${WITH_IPP}
+        -DWITH_MATLAB=OFF
+        -DWITH_MSMF=${WITH_MSMF}
+        -DWITH_OPENMP=OFF
+        -DWITH_PROTOBUF=${BUILD_opencv_flann}
+        -DWITH_PYTHON=${WITH_PYTHON}
+        -DWITH_OPENCLAMDBLAS=OFF
+        -DWITH_TBB=${WITH_TBB}
+        -DWITH_OPENJPEG=OFF
+        -DWITH_CPUFEATURES=OFF
+        ###### BUILD_options (mainly modules which require additional libraries)
+        -DBUILD_opencv_ovis=${BUILD_opencv_ovis}
+        -DBUILD_opencv_dnn=${BUILD_opencv_dnn}
+        ###### The following modules are disabled for UWP
+        -DBUILD_opencv_quality=${BUILD_opencv_quality}
+        ###### Additional build flags
+        ${ADDITIONAL_BUILD_FLAGS}
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(PACKAGE_NAME opencv CONFIG_PATH "share/opencv")
+vcpkg_copy_pdbs()
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+  file(READ "${CURRENT_PACKAGES_DIR}/share/opencv/OpenCVModules.cmake" OPENCV_MODULES)
+  set(DEPS_STRING "include(CMakeFindDependencyMacro)
+if(${BUILD_opencv_flann})
+  find_dependency(Protobuf CONFIG REQUIRED)
+  if(TARGET protobuf::libprotobuf)
+    add_library (libprotobuf INTERFACE IMPORTED)
+    set_target_properties(libprotobuf PROPERTIES
+      INTERFACE_LINK_LIBRARIES protobuf::libprotobuf
+    )
+  else()
+    add_library (libprotobuf UNKNOWN IMPORTED)
+    set_target_properties(libprotobuf PROPERTIES
+      IMPORTED_LOCATION \"${Protobuf_LIBRARY}\"
+      INTERFACE_INCLUDE_DIRECTORIES \"${Protobuf_INCLUDE_DIR}\"
+      INTERFACE_SYSTEM_INCLUDE_DIRECTORIES \"${Protobuf_INCLUDE_DIR}\"
+    )
+  endif()
+endif()
+find_dependency(Threads)")
+  if("tiff" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(TIFF)")
+  endif()
+  if("cuda" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(CUDA)")
+  endif()
+  if(BUILD_opencv_quality)
+    string(APPEND DEPS_STRING "
+# C language is required for try_compile tests in FindHDF5
+enable_language(C)
+find_dependency(HDF5)
+find_dependency(Tesseract)")
+  endif()
+  if(WITH_TBB)
+    string(APPEND DEPS_STRING "\nfind_dependency(TBB)")
+  endif()
+  if("vtk" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(VTK)")
+  endif()
+  if("sfm" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(gflags CONFIG)\nfind_dependency(Ceres CONFIG)")
+  endif()
+  if("eigen" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(Eigen3 CONFIG)")
+  endif()
+  if("lapack" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(LAPACK)")
+  endif()
+  if("openexr" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(OpenEXR CONFIG)")
+  endif()
+  if(WITH_OPENMP)
+    string(APPEND DEPS_STRING "\nfind_dependency(OpenMP)")
+  endif()
+  if(BUILD_opencv_ovis)
+    string(APPEND DEPS_STRING "\nfind_dependency(Ogre)\nfind_dependency(Freetype)")
+  endif()
+  if("quirc" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(quirc)")
+  endif()
+  if("qt" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTORCC ON)
+set(CMAKE_AUTOUIC ON)
+find_dependency(Qt${USE_QT_VERSION} COMPONENTS Core Gui Widgets Test Concurrent)")
+    if("opengl" IN_LIST FEATURES)
+      string(APPEND DEPS_STRING "
+find_dependency(Qt${USE_QT_VERSION} COMPONENTS OpenGL)")
+    endif()
+  endif()
+  if("ade" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(ade)")
+  endif()
+  if("gdcm" IN_LIST FEATURES)
+    string(APPEND DEPS_STRING "\nfind_dependency(GDCM)")
+  endif()
+
+  string(REPLACE "set(CMAKE_IMPORT_FILE_VERSION 1)"
+                 "set(CMAKE_IMPORT_FILE_VERSION 1)\n${DEPS_STRING}" OPENCV_MODULES "${OPENCV_MODULES}")
+
+  if(WITH_OPENMP)
+    string(REPLACE "set_target_properties(opencv_core PROPERTIES
+  INTERFACE_LINK_LIBRARIES \""
+                   "set_target_properties(opencv_core PROPERTIES
+  INTERFACE_LINK_LIBRARIES \"\$<LINK_ONLY:OpenMP::OpenMP_CXX>;" OPENCV_MODULES "${OPENCV_MODULES}")
+  endif()
+
+  if(BUILD_opencv_ovis)
+    string(REPLACE "OgreGLSupportStatic"
+                   "OgreGLSupport" OPENCV_MODULES "${OPENCV_MODULES}")
+  endif()
+
+  file(WRITE "${CURRENT_PACKAGES_DIR}/share/opencv/OpenCVModules.cmake" "${OPENCV_MODULES}")
+
+
+  file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+endif()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE "${CURRENT_PACKAGES_DIR}/LICENSE")
+file(REMOVE "${CURRENT_PACKAGES_DIR}/debug/LICENSE")
+
+if(VCPKG_TARGET_IS_ANDROID)
+  file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/README.android")
+  file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/README.android")
+endif()
+
+vcpkg_fixup_pkgconfig()
+
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv3/vcpkg.json

@@ -0,0 +1,268 @@
+{
+  "name": "opencv3",
+  "version": "3.4.16",
+  "port-version": 5,
+  "description": "computer vision library",
+  "homepage": "https://github.com/opencv/opencv",
+  "license": "BSD-3-Clause",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    },
+    "zlib"
+  ],
+  "default-features": [
+    "default-features"
+  ],
+  "features": {
+    "contrib": {
+      "description": "opencv_contrib module",
+      "dependencies": [
+        {
+          "name": "hdf5",
+          "platform": "!uwp & !(windows & (arm | arm64))"
+        },
+        {
+          "name": "opencv3",
+          "features": [
+            "dnn"
+          ]
+        },
+        {
+          "name": "tesseract",
+          "platform": "!uwp & !(windows & (arm | arm64))"
+        }
+      ]
+    },
+    "cuda": {
+      "description": "CUDA support for opencv",
+      "dependencies": [
+        "cuda",
+        "cudnn",
+        {
+          "name": "opencv3",
+          "features": [
+            "contrib"
+          ]
+        }
+      ]
+    },
+    "default-features": {
+      "description": "Platform-dependent default features",
+      "dependencies": [
+        {
+          "name": "opencv3",
+          "default-features": false,
+          "features": [
+            "dnn",
+            "jpeg",
+            "png",
+            "quirc",
+            "tiff",
+            "webp"
+          ]
+        },
+        {
+          "name": "opencv3",
+          "default-features": false,
+          "features": [
+            "gtk"
+          ],
+          "platform": "linux"
+        }
+      ]
+    },
+    "dnn": {
+      "description": "Enable dnn module",
+      "dependencies": [
+        {
+          "name": "opencv3",
+          "features": [
+            "flann"
+          ]
+        }
+      ]
+    },
+    "eigen": {
+      "description": "Eigen support for opencv",
+      "dependencies": [
+        "eigen3"
+      ]
+    },
+    "ffmpeg": {
+      "description": "ffmpeg support for opencv",
+      "dependencies": [
+        {
+          "name": "ffmpeg",
+          "default-features": false,
+          "features": [
+            "avcodec",
+            "avformat",
+            "swresample",
+            "swscale"
+          ]
+        }
+      ]
+    },
+    "flann": {
+      "description": "opencv_flann module",
+      "dependencies": [
+        "protobuf"
+      ]
+    },
+    "gdcm": {
+      "description": "GDCM support for opencv",
+      "dependencies": [
+        "gdcm"
+      ]
+    },
+    "gstreamer": {
+      "description": "gstreamer support for opencv",
+      "dependencies": [
+        "gstreamer"
+      ]
+    },
+    "gtk": {
+      "description": "GTK support for opencv",
+      "dependencies": [
+        "gtk"
+      ]
+    },
+    "halide": {
+      "description": "Halide support for opencv",
+      "dependencies": [
+        "halide",
+        {
+          "name": "opencv3",
+          "default-features": false
+        },
+        {
+          "name": "opencv3",
+          "features": [
+            "dnn"
+          ]
+        }
+      ]
+    },
+    "ipp": {
+      "description": "Enable Intel Integrated Performance Primitives"
+    },
+    "jasper": {
+      "description": "JPEG 2000 support for opencv",
+      "dependencies": [
+        "jasper"
+      ]
+    },
+    "jpeg": {
+      "description": "JPEG support for opencv",
+      "dependencies": [
+        "libjpeg-turbo"
+      ]
+    },
+    "lapack": {
+      "description": "LAPACK support for opencv",
+      "dependencies": [
+        "blas",
+        "lapack"
+      ]
+    },
+    "nonfree": {
+      "description": "allow nonfree and unredistributable libraries"
+    },
+    "openexr": {
+      "description": "OpenEXR support for opencv",
+      "dependencies": [
+        "openexr"
+      ]
+    },
+    "opengl": {
+      "description": "opengl support for opencv",
+      "dependencies": [
+        "opengl"
+      ]
+    },
+    "ovis": {
+      "description": "opencv_ovis module",
+      "dependencies": [
+        "ogre",
+        {
+          "name": "opencv3",
+          "features": [
+            "contrib"
+          ]
+        }
+      ]
+    },
+    "png": {
+      "description": "PNG support for opencv",
+      "dependencies": [
+        "libpng"
+      ]
+    },
+    "python": {
+      "description": "Python wrapper support for opencv"
+    },
+    "qt": {
+      "description": "Qt GUI support for opencv",
+      "dependencies": [
+        {
+          "name": "qt5-base",
+          "default-features": false
+        }
+      ]
+    },
+    "quirc": {
+      "description": "Enable QR code module",
+      "dependencies": [
+        "quirc"
+      ]
+    },
+    "sfm": {
+      "description": "opencv_sfm module",
+      "dependencies": [
+        "ceres",
+        "eigen3",
+        "gflags",
+        "glog",
+        {
+          "name": "opencv3",
+          "features": [
+            "contrib"
+          ]
+        }
+      ]
+    },
+    "tbb": {
+      "description": "Enable Intel Threading Building Blocks",
+      "dependencies": [
+        "tbb"
+      ]
+    },
+    "tiff": {
+      "description": "TIFF support for opencv",
+      "dependencies": [
+        "tiff"
+      ]
+    },
+    "vtk": {
+      "description": "vtk support for opencv",
+      "dependencies": [
+        "vtk"
+      ]
+    },
+    "webp": {
+      "description": "WebP support for opencv",
+      "dependencies": [
+        "libwebp"
+      ]
+    },
+    "world": {
+      "description": "Compile to a single package support for opencv"
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv4/0001-disable-downloading.patch

@@ -0,0 +1,12 @@
+--- a/cmake/OpenCVDownload.cmake
++++ b/cmake/OpenCVDownload.cmake
+@@ -157,6 +157,9 @@ function(ocv_download)
+   # Download
+   if(NOT EXISTS "${CACHE_CANDIDATE}")
+     ocv_download_log("#cmake_download \"${CACHE_CANDIDATE}\" \"${DL_URL}\"")
++    string(REPLACE "${OPENCV_DOWNLOAD_PATH}/" "opencv-cache/" CACHE_SUBPATH "${CACHE_CANDIDATE}")
++    message(FATAL_ERROR "    Downloads are not permitted during configure. Please pre-download the file \"${CACHE_CANDIDATE}\":\n    \n    vcpkg_download_distfile(OCV_DOWNLOAD\n        URLS \"${DL_URL}\"\n        FILENAME \"${CACHE_SUBPATH}\"\n        SHA512 0\n    )")
++
+     foreach(try ${OPENCV_DOWNLOAD_TRIES_LIST})
+       ocv_download_log("#try ${try}")
+       file(DOWNLOAD "${DL_URL}" "${CACHE_CANDIDATE}"

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opencv4/0002-install-options.patch

@@ -0,0 +1,57 @@
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -616,7 +616,7 @@ endif()
+ ocv_cmake_hook(POST_CMAKE_BUILD_OPTIONS)
+ 
+ # --- Python Support ---
+-if(NOT IOS)
++if(WITH_PYTHON)
+   include(cmake/OpenCVDetectPython.cmake)
+ endif()
+ 
+--- a/cmake/OpenCVCompilerOptions.cmake
++++ b/cmake/OpenCVCompilerOptions.cmake
+@@ -286,7 +286,6 @@ if(MSVC)
+   #endif()
+ 
+   if(BUILD_WITH_DEBUG_INFO)
+-    set(OPENCV_EXTRA_FLAGS_RELEASE "${OPENCV_EXTRA_FLAGS_RELEASE} /Zi")
+     set(OPENCV_EXTRA_EXE_LINKER_FLAGS_RELEASE "${OPENCV_EXTRA_EXE_LINKER_FLAGS_RELEASE} /debug")
+     set(OPENCV_EXTRA_SHARED_LINKER_FLAGS_RELEASE "${OPENCV_EXTRA_SHARED_LINKER_FLAGS_RELEASE} /debug")
+     set(OPENCV_EXTRA_MODULE_LINKER_FLAGS_RELEASE "${OPENCV_EXTRA_MODULE_LINKER_FLAGS_RELEASE} /debug")
+--- a/cmake/OpenCVGenConfig.cmake
++++ b/cmake/OpenCVGenConfig.cmake
+@@ -114,11 +114,11 @@ function(ocv_gen_config TMP_DIR NESTED_PATH ROOT_NAME)
+   endif()
+ endfunction()
+ 
+-if((CMAKE_HOST_SYSTEM_NAME MATCHES "Linux" OR UNIX) AND NOT ANDROID)
++if(TRUE)
+   ocv_gen_config("${CMAKE_BINARY_DIR}/unix-install" "" "")
+ endif()
+ 
+-if(ANDROID)
++if(FALSE)
+   ocv_gen_config("${CMAKE_BINARY_DIR}/unix-install" "abi-${ANDROID_NDK_ABI_NAME}" "OpenCVConfig.root-ANDROID.cmake.in")
+   install(FILES "${OpenCV_SOURCE_DIR}/platforms/android/android.toolchain.cmake" DESTINATION "${OPENCV_CONFIG_INSTALL_PATH}" COMPONENT dev)
+ endif()
+@@ -126,7 +126,7 @@ endif()
+ # --------------------------------------------------------------------------------------------
+ #  Part 3/3: ${BIN_DIR}/win-install/OpenCVConfig.cmake  -> For use within binary installers/packages
+ # --------------------------------------------------------------------------------------------
+-if(WIN32)
++if(0)
+   if(CMAKE_HOST_SYSTEM_NAME MATCHES Windows AND NOT OPENCV_SKIP_CMAKE_ROOT_CONFIG)
+     ocv_gen_config("${CMAKE_BINARY_DIR}/win-install"
+                    "${OPENCV_INSTALL_BINARIES_PREFIX}${OPENCV_INSTALL_BINARIES_SUFFIX}"
+--- a/data/CMakeLists.txt
++++ b/data/CMakeLists.txt
+@@ -1,8 +1,6 @@
+ file(GLOB HAAR_CASCADES haarcascades/*.xml)
+ file(GLOB LBP_CASCADES lbpcascades/*.xml)
+ 
+-install(FILES ${HAAR_CASCADES} DESTINATION ${OPENCV_OTHER_INSTALL_PATH}/haarcascades COMPONENT libs)
+-install(FILES ${LBP_CASCADES}  DESTINATION ${OPENCV_OTHER_INSTALL_PATH}/lbpcascades  COMPONENT libs)
+ 
+ if(INSTALL_TESTS AND OPENCV_TEST_DATA_PATH)
+   install(DIRECTORY "${OPENCV_TEST_DATA_PATH}/" DESTINATION "${OPENCV_TEST_DATA_INSTALL_PATH}" COMPONENT "tests")