00b811cec297dfe1030807f4742fcf4a1ea098b1589c3d53dd182eae6de00a75

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

@@ -0,0 +1,44 @@
+if(VCPKG_TARGET_IS_WINDOWS)
+  message(WARNING
+    "You will need to also install https://raw.githubusercontent.com/unicode-org/cldr/master/common/supplemental/windowsZones.xml into your install location.\n"
+    "See https://howardhinnant.github.io/date/tz.html"
+  )
+endif()
+
+vcpkg_from_github(
+  OUT_SOURCE_PATH SOURCE_PATH
+  REPO HowardHinnant/date
+  REF v3.0.1
+  SHA512 6bdc7cba821d66e17a559250cc0ce0095808e9db81cec9e16eaa4c31abdfa705299c67b72016d9b06b302bc306d063e83a374eb00728071b83a5ad650d59034f
+  HEAD_REF master
+  PATCHES
+    0001-fix-uwp.patch
+    0002-fix-cmake-3.14.patch
+    fix-uninitialized-values.patch  #Update the new version please remove this patch
+)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    INVERTED_FEATURES
+    remote-api USE_SYSTEM_TZ_DB
+)
+
+vcpkg_cmake_configure(
+  SOURCE_PATH "${SOURCE_PATH}"
+  OPTIONS
+    ${FEATURE_OPTIONS}
+    -DBUILD_TZ_LIB=ON
+)
+
+vcpkg_cmake_install()
+
+if(VCPKG_TARGET_IS_WINDOWS)
+  vcpkg_cmake_config_fixup(CONFIG_PATH CMake)
+else()
+  vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/date)
+endif()
+
+vcpkg_copy_pdbs()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+file(INSTALL "${SOURCE_PATH}/LICENSE.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,25 @@
+{
+  "name": "date",
+  "version": "3.0.1",
+  "port-version": 2,
+  "description": "A date and time library based on the C++17 <chrono> header",
+  "homepage": "https://github.com/HowardHinnant/date",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "features": {
+    "remote-api": {
+      "description": "support automatic download of tz data",
+      "dependencies": [
+        "curl"
+      ]
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/dav1d/patch_underscore_prefix.patch

@@ -0,0 +1,13 @@
+diff --git a/meson.build b/meson.build
+index 07b2586..02acd91 100644
+--- a/meson.build
++++ b/meson.build
+@@ -370,7 +370,7 @@ endif
+ 
+ cdata.set10('ARCH_PPC64LE', host_machine.cpu() == 'ppc64le')
+ 
+-if cc.symbols_have_underscore_prefix()
++if cc.symbols_have_underscore_prefix() or (host_machine.cpu_family() == 'x86' and host_machine.system() == 'windows')
+     cdata.set10('PREFIX', true)
+     cdata_asm.set10('PREFIX', true)
+ endif

third-party/DPVO/Pangolin/scripts/vcpkg/ports/dav1d/portfile.cmake

@@ -0,0 +1,32 @@
+vcpkg_from_gitlab(
+    GITLAB_URL https://code.videolan.org
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO videolan/dav1d
+    REF 0.8.2
+    SHA512 2f48c88fdbe627f089eb378f43b8f18e1c5cff4645148ee7e14b8f3f8e9d690b28e58fc9cb466e7a9a4c147f06b0d34c47c132070acefbd01abe23cd3c6047d8
+    PATCHES
+        "patch_underscore_prefix.patch"
+)
+
+vcpkg_find_acquire_program(NASM)
+get_filename_component(NASM_EXE_PATH ${NASM} DIRECTORY)
+vcpkg_add_to_path(${NASM_EXE_PATH})
+
+set(LIBRARY_TYPE ${VCPKG_LIBRARY_LINKAGE})
+if (LIBRARY_TYPE STREQUAL "dynamic")
+    set(LIBRARY_TYPE "shared")
+endif(LIBRARY_TYPE STREQUAL "dynamic")
+
+vcpkg_configure_meson(
+    SOURCE_PATH ${SOURCE_PATH}
+    OPTIONS
+        --default-library=${LIBRARY_TYPE}
+        -Denable_tests=false
+        -Denable_tools=false
+)
+
+vcpkg_install_meson()
+vcpkg_copy_pdbs()
+vcpkg_fixup_pkgconfig()
+
+configure_file("${SOURCE_PATH}/COPYING" "${CURRENT_PACKAGES_DIR}/share/${PORT}/copyright" COPYONLY)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/dav1d/vcpkg.json

@@ -0,0 +1,14 @@
+{
+  "name": "dav1d",
+  "version-semver": "0.8.2",
+  "port-version": 3,
+  "description": "dav1d is a new open-source AV1 decoder developed by the VideoLAN and FFmpeg communities and sponsored by the Alliance for Open Media.",
+  "homepage": "https://code.videolan.org/videolan/dav1d",
+  "supports": "!(uwp | arm | x86)",
+  "dependencies": [
+    {
+      "name": "vcpkg-tool-meson",
+      "host": true
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/daw-header-libraries/portfile.cmake

@@ -0,0 +1,18 @@
+# Header-only library
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO beached/header_libraries
+    REF bd372e81e04e256a6ba88217c4b99a3601fb5ef7 #v1.29.7
+    SHA512 7aad017e70e79c3244011cbcb719afb385a639e1e4d37955be074bd1d2f501052dcae9347d094a8ef970f3762ebdfe33c90318b2e6891f4b354e823acfee7188
+    HEAD_REF master
+)
+
+vcpkg_cmake_configure(SOURCE_PATH "${SOURCE_PATH}")
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/${PORT})
+
+# remove empty lib and debug/lib directories (and duplicate files from debug/include)
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug" "${CURRENT_PACKAGES_DIR}/lib")
+
+file(INSTALL "${SOURCE_PATH}/LICENSE.md" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/daw-header-libraries/vcpkg.json

@@ -0,0 +1,16 @@
+{
+  "name": "daw-header-libraries",
+  "version-semver": "1.29.7",
+  "description": "Set of header-only algorithms used in daw-utf8-range and daw-json-link.",
+  "homepage": "https://github.com/beached/header_libraries",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/daw-json-link/portfile.cmake

@@ -0,0 +1,40 @@
+# Header-only library
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO beached/daw_json_link
+    REF 828565f48bd077e776fcef322457186d8f01e7eb  #v2.10.2
+    SHA512 8c870d778c9abb295d323ae913d9e2bb0255f176c7e4f1d8cdf424af9bbe4c5eb650436065bb47e3e8745ff1c12234959526c8dcdf2c169ab55af4b150e6b477
+    HEAD_REF master
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DDAW_USE_PACKAGE_MANAGEMENT=ON
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH share/${PORT}/cmake)
+
+# remove empty lib and debug/lib directories (and duplicate files from debug/include)
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug" "${CURRENT_PACKAGES_DIR}/lib")
+
+# Append the json-link and dragonbox license information into a single 
+# copyright file (they are both Boost v1.0 but it is good to be clear).
+file(APPEND "${SOURCE_PATH}/copyright" [=[+----------------------------------------------------------------------------+
+|                            json-link copywrite                             |
++----------------------------------------------------------------------------+
+]=])
+file(READ "${SOURCE_PATH}/LICENSE" json_link_copywrite)
+file(APPEND "${SOURCE_PATH}/copyright" ${json_link_copywrite})
+file(APPEND "${SOURCE_PATH}/copyright" [=[
+
+
++----------------------------------------------------------------------------+
+|                            dragonbox copywrite                             |
++----------------------------------------------------------------------------+
+]=])
+
+file(READ "${SOURCE_PATH}/LICENSE_Dragonbox" dragonbox_copywrite)
+file(APPEND "${SOURCE_PATH}/copyright" ${dragonbox_copywrite})
+file(INSTALL "${SOURCE_PATH}/copyright" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}")

third-party/DPVO/Pangolin/scripts/vcpkg/ports/daw-json-link/vcpkg.json

@@ -0,0 +1,17 @@
+{
+  "name": "daw-json-link",
+  "version-semver": "2.10.2",
+  "description": "Perhaps the fastest JSON deserializer/serializer posssible or at least close to it.",
+  "homepage": "https://github.com/beached/daw_json_link",
+  "dependencies": [
+    "daw-utf-range",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/daw-utf-range/portfile.cmake

@@ -0,0 +1,22 @@
+# Header-only library
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO beached/utf_range
+    REF cd45b91a1530a68ce019b876a32b1694b4031613 #v2.2.0
+    SHA512 21943b488b4efb8696bfe95f80c8043beed8f5f3cc9a34cfb95d34186d6a0ac2354943ebfd767bd6df42837c29e3c467a107d2f8556a7f719833d43f566afa40
+    HEAD_REF master
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DDAW_USE_PACKAGE_MANAGEMENT=ON
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/${PORT})
+
+# remove empty lib and debug/lib directories (and duplicate files from debug/include)
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug" "${CURRENT_PACKAGES_DIR}/lib")
+
+file(INSTALL "${SOURCE_PATH}/LICENSE.md" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/daw-utf-range/vcpkg.json

@@ -0,0 +1,17 @@
+{
+  "name": "daw-utf-range",
+  "version-semver": "2.2.0",
+  "description": "Header-only utf8 string range used by daw-json-link. Includes a constexpr/noexcept modified version of utfcpp.",
+  "homepage": "https://github.com/beached/header_libraries",
+  "dependencies": [
+    "daw-header-libraries",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

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

@@ -0,0 +1,14 @@
+# single header file library
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO sharkdp/dbg-macro
+    REF 4db61805d90cb66d91bcc56c2703591a0127ed11
+    SHA512 68afaedce857f6007edbb65527745aa07ab3dd736e65602b4c6da04646730ef4c09d9a239a9bcae1806c5a0bc0f70b5766edf245b2fd5f84d64cc03a5cadc5c8
+    HEAD_REF master
+)
+
+file(COPY ${SOURCE_PATH}/dbg.h DESTINATION ${CURRENT_PACKAGES_DIR}/include)
+
+# Handle copyright
+configure_file(${SOURCE_PATH}/LICENSE ${CURRENT_PACKAGES_DIR}/share/${PORT}/copyright COPYONLY)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/dbg-macro/vcpkg.json

@@ -0,0 +1,6 @@
+{
+  "name": "dbg-macro",
+  "version-date": "2021-11-02",
+  "description": "A dbg(...) macro for C++",
+  "homepage": "https://github.com/sharkdp/dbg-macro"
+}

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

@@ -0,0 +1,26 @@
+vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
+
+vcpkg_get_windows_sdk(WINDOWS_SDK)
+
+if (WINDOWS_SDK VERSION_GREATER "10")
+    set(LIBFILEPATH "$ENV{WindowsSdkDir}Debuggers\\lib\\${TRIPLET_SYSTEM_ARCH}\\dbghelp.lib")
+    message("LIBFILEPATH: ${LIBFILEPATH}")
+    set(DLLFILEPATH "$ENV{WindowsSdkDir}Debuggers\\${TRIPLET_SYSTEM_ARCH}\\dbghelp.dll")
+    message("DLLFILEPATH: ${DLLFILEPATH}")
+    set(HEADERPATH "$ENV{WindowsSdkDir}Debuggers\\inc\\dbghelp.h")
+    message("HEADERPATH: ${HEADERPATH}")
+else()
+    message(FATAL_ERROR "Portfile not yet configured for Windows SDK with version: ${WINDOWS_SDK}")
+endif()
+
+if (NOT EXISTS "${LIBFILEPATH}" OR NOT EXISTS "${DLLFILEPATH}" OR NOT EXISTS "${HEADERPATH}")
+    message(FATAL_ERROR "Cannot find debugging tools in Windows SDK ${WINDOWS_SDK}. Please reinstall the Windows SDK and select \"Debugging Tools\".")
+endif()
+
+file(INSTALL ${LIBFILEPATH} DESTINATION ${CURRENT_PACKAGES_DIR}/lib)
+file(INSTALL ${LIBFILEPATH} DESTINATION ${CURRENT_PACKAGES_DIR}/debug/lib)
+file(INSTALL ${DLLFILEPATH} DESTINATION ${CURRENT_PACKAGES_DIR}/bin)
+file(INSTALL ${DLLFILEPATH} DESTINATION ${CURRENT_PACKAGES_DIR}/debug/bin)
+file(INSTALL ${HEADERPATH} DESTINATION ${CURRENT_PACKAGES_DIR}/include)
+
+file(WRITE ${CURRENT_PACKAGES_DIR}/share/${PORT}/copyright "See https://developer.microsoft.com/windows/downloads/windows-10-sdk for the Windows 10 SDK license")

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

@@ -0,0 +1,7 @@
+{
+  "name": "dbghelp",
+  "version": "0",
+  "port-version": 2,
+  "description": "Windows Debug Help Library",
+  "supports": "windows"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/dbow2/portfile.cmake

@@ -0,0 +1,28 @@
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO dorian3d/DBoW2
+    REF 4d08e9fc751fac9063874d85a43c1ccdcda8b401
+    SHA512 0a4ad8506c731395cb23d96d0e8afe4131576af88468723b9496cdbc95a031089ecdeb61dbb7205cb3a7599acb60a39887fa9852e7d7a690b8152a1bd26d9bd0
+    HEAD_REF master
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA 
+    OPTIONS -DBUILD_Demo=OFF    
+)
+
+vcpkg_install_cmake()
+
+# Move CMake files to the right place
+vcpkg_fixup_cmake_targets(CONFIG_PATH lib/cmake/DBoW2)
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/include/DBoW2/DBoW2Config.cmake)
+
+# Handle copyright
+file(COPY ${SOURCE_PATH}/LICENSE.txt DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT})
+file(RENAME ${CURRENT_PACKAGES_DIR}/share/${PORT}/LICENSE.txt ${CURRENT_PACKAGES_DIR}/share/${PORT}/copyright)
+

third-party/DPVO/Pangolin/scripts/vcpkg/ports/dbow2/vcpkg.json

@@ -0,0 +1,10 @@
+{
+  "name": "dbow2",
+  "version-string": "2019-08-05",
+  "port-version": 1,
+  "description": "DBoW2 is an improved version of the DBow library, an open source C++ library for indexing and converting images into a bag-of-word representation.",
+  "homepage": "https://github.com/dorian3d/DBoW2",
+  "dependencies": [
+    "opencv"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/dbow3/fix_cmake.patch

@@ -0,0 +1,2496 @@
+From d72cb42f5147f7648c462ee1b211070c1691a887 Mon Sep 17 00:00:00 2001
+From: Ramadan <[email protected]>
+Date: Thu, 15 Aug 2019 12:27:19 +0200
+Subject: [PATCH 1/2] Fix CMakeLists.txt and installation
+
+---
+ .gitignore                                 | 249 ++++++++++
+ CMakeLists.txt                             | 275 +----------
+ Lib/CMakeLists.txt                         |  99 ++++
+ Lib/DBow3Config.cmake                      |   4 +
+ {src => Lib/include/DBow3}/BowVector.h     |   1 +
+ {src => Lib/include/DBow3}/DBoW3.h         |   0
+ {src => Lib/include/DBow3}/Database.h      |   0
+ {src => Lib/include/DBow3}/DescManip.h     |   0
+ {src => Lib/include/DBow3}/FeatureVector.h |   0
+ {src => Lib/include/DBow3}/QueryResults.h  |   0
+ {src => Lib/include/DBow3}/ScoringObject.h |   0
+ {src => Lib/include/DBow3}/Vocabulary.h    |   0
+ {src => Lib/include/DBow3}/exports.h       |  16 +-
+ {src => Lib/include/DBow3}/quicklz.h       |   0
+ {src => Lib/include/DBow3}/timers.h        |   0
+ {src => Lib/src}/BowVector.cpp             |   2 +-
+ {src => Lib/src}/Database.cpp              |   2 +-
+ {src => Lib/src}/DescManip.cpp             | 546 ++++++++++-----------
+ {src => Lib/src}/FeatureVector.cpp         |   2 +-
+ {src => Lib/src}/QueryResults.cpp          |   2 +-
+ {src => Lib/src}/ScoringObject.cpp         |   4 +-
+ {src => Lib/src}/Vocabulary.cpp            |   8 +-
+ {src => Lib/src}/quicklz.c                 |   2 +-
+ cmake/instructionSet.cmake                 |  13 +
+ cmake_uninstall.cmake.in                   |  28 --
+ config.cmake.in                            |  36 --
+ {utils => examples}/CMakeLists.txt         |   0
+ {utils => examples}/create_voc_step0.cpp   | 252 +++++-----
+ {utils => examples}/create_voc_step1.cpp   | 142 +++---
+ {utils => examples}/demo_general.cpp       | 404 +++++++--------
+ {utils => examples}/images/image0.png      | Bin
+ {utils => examples}/images/image1.png      | Bin
+ {utils => examples}/images/image2.png      | Bin
+ {utils => examples}/images/image3.png      | Bin
+ src/CMakeLists.txt                         |  35 --
+ orbvoc.dbow3 => voc/orbvoc.dbow3           | Bin
+ 36 files changed, 1072 insertions(+), 1050 deletions(-)
+ create mode 100644 .gitignore
+ create mode 100644 Lib/CMakeLists.txt
+ create mode 100644 Lib/DBow3Config.cmake
+ rename {src => Lib/include/DBow3}/BowVector.h (99%)
+ rename {src => Lib/include/DBow3}/DBoW3.h (100%)
+ rename {src => Lib/include/DBow3}/Database.h (100%)
+ rename {src => Lib/include/DBow3}/DescManip.h (100%)
+ rename {src => Lib/include/DBow3}/FeatureVector.h (100%)
+ rename {src => Lib/include/DBow3}/QueryResults.h (100%)
+ rename {src => Lib/include/DBow3}/ScoringObject.h (100%)
+ rename {src => Lib/include/DBow3}/Vocabulary.h (100%)
+ rename {src => Lib/include/DBow3}/exports.h (78%)
+ rename {src => Lib/include/DBow3}/quicklz.h (100%)
+ rename {src => Lib/include/DBow3}/timers.h (100%)
+ rename {src => Lib/src}/BowVector.cpp (99%)
+ rename {src => Lib/src}/Database.cpp (99%)
+ rename {src => Lib/src}/DescManip.cpp (96%)
+ rename {src => Lib/src}/FeatureVector.cpp (98%)
+ rename {src => Lib/src}/QueryResults.cpp (97%)
+ rename {src => Lib/src}/ScoringObject.cpp (99%)
+ rename {src => Lib/src}/Vocabulary.cpp (99%)
+ rename {src => Lib/src}/quicklz.c (99%)
+ create mode 100644 cmake/instructionSet.cmake
+ delete mode 100644 cmake_uninstall.cmake.in
+ delete mode 100644 config.cmake.in
+ rename {utils => examples}/CMakeLists.txt (100%)
+ rename {utils => examples}/create_voc_step0.cpp (97%)
+ rename {utils => examples}/create_voc_step1.cpp (97%)
+ rename {utils => examples}/demo_general.cpp (96%)
+ rename {utils => examples}/images/image0.png (100%)
+ rename {utils => examples}/images/image1.png (100%)
+ rename {utils => examples}/images/image2.png (100%)
+ rename {utils => examples}/images/image3.png (100%)
+ delete mode 100644 src/CMakeLists.txt
+ rename orbvoc.dbow3 => voc/orbvoc.dbow3 (100%)
+
+diff --git a/.gitignore b/.gitignore
+new file mode 100644
+index 0000000..8c4285e
+--- /dev/null
++++ b/.gitignore
+@@ -0,0 +1,249 @@
++## Ignore Visual Studio temporary files, build results, and
++## files generated by popular Visual Studio add-ons.
++
++# User-specific files
++*.suo
++*.user
++*.userosscache
++*.sln.docstates
++
++# User-specific files (MonoDevelop/Xamarin Studio)
++*.userprefs
++
++# Build results
++[Dd]ebug/
++[Dd]ebugPublic/
++[Rr]elease/
++[Rr]eleases/
++[Xx]64/
++[Xx]86/
++[Bb]uild/
++bld/
++[Bb]in/
++[Oo]bj/
++
++# Visual Studio 2015 cache/options directory
++.vs/
++out/
++# Uncomment if you have tasks that create the project's static files in wwwroot
++#wwwroot/
++
++# MSTest test Results
++[Tt]est[Rr]esult*/
++[Bb]uild[Ll]og.*
++
++# NUNIT
++*.VisualState.xml
++TestResult.xml
++
++# Build Results of an ATL Project
++[Dd]ebugPS/
++[Rr]eleasePS/
++dlldata.c
++
++# DNX
++project.lock.json
++artifacts/
++
++*_i.c
++*_p.c
++*_i.h
++*.ilk
++*.meta
++*.obj
++*.pch
++*.pdb
++*.pgc
++*.pgd
++*.rsp
++*.sbr
++*.tlb
++*.tli
++*.tlh
++*.tmp
++*.tmp_proj
++*.log
++*.vspscc
++*.vssscc
++.builds
++*.pidb
++*.svclog
++*.scc
++*.tlog
++*.idb
++# Chutzpah Test files
++_Chutzpah*
++
++# Visual C++ cache files
++ipch/
++*.aps
++*.ncb
++*.opendb
++*.opensdf
++*.sdf
++*.cachefile
++*.VC.db
++
++# Visual Studio profiler
++*.psess
++*.vsp
++*.vspx
++*.sap
++
++# TFS 2012 Local Workspace
++$tf/
++
++# Guidance Automation Toolkit
++*.gpState
++
++# ReSharper is a .NET coding add-in
++_ReSharper*/
++*.[Rr]e[Ss]harper
++*.DotSettings.user
++
++# JustCode is a .NET coding add-in
++.JustCode
++
++# TeamCity is a build add-in
++_TeamCity*
++
++# DotCover is a Code Coverage Tool
++*.dotCover
++
++# NCrunch
++_NCrunch_*
++.*crunch*.local.xml
++nCrunchTemp_*
++
++# MightyMoose
++*.mm.*
++AutoTest.Net/
++
++# Web workbench (sass)
++.sass-cache/
++
++# Installshield output folder
++[Ee]xpress/
++
++# DocProject is a documentation generator add-in
++DocProject/buildhelp/
++DocProject/Help/*.HxT
++DocProject/Help/*.HxC
++DocProject/Help/*.hhc
++DocProject/Help/*.hhk
++DocProject/Help/*.hhp
++DocProject/Help/Html2
++DocProject/Help/html
++
++# Click-Once directory
++publish/
++
++# Publish Web Output
++*.[Pp]ublish.xml
++*.azurePubxml
++
++# TODO: Un-comment the next line if you do not want to checkin 
++# your web deploy settings because they may include unencrypted
++# passwords
++#*.pubxml
++*.publishproj
++
++# NuGet Packages
++*.nupkg
++# The packages folder can be ignored because of Package Restore
++**/packages/*
++# except build/, which is used as an MSBuild target.
++!**/packages/build/
++# Uncomment if necessary however generally it will be regenerated when needed
++#!**/packages/repositories.config
++# NuGet v3's project.json files produces more ignoreable files
++*.nuget.props
++*.nuget.targets
++
++# Microsoft Azure Build Output
++csx/
++*.build.csdef
++
++# Microsoft Azure Emulator
++ecf/
++rcf/
++
++# Microsoft Azure ApplicationInsights config file
++ApplicationInsights.config
++
++# Windows Store app package directory
++AppPackages/
++BundleArtifacts/
++
++# Visual Studio cache files
++# files ending in .cache can be ignored
++*.[Cc]ache
++# but keep track of directories ending in .cache
++!*.[Cc]ache/
++
++# Others
++ClientBin/
++[Ss]tyle[Cc]op.*
++~$*
++*~
++*.dbmdl
++*.dbproj.schemaview
++*.pfx
++*.publishsettings
++node_modules/
++orleans.codegen.cs
++
++# RIA/Silverlight projects
++Generated_Code/
++
++# Backup & report files from converting an old project file
++# to a newer Visual Studio version. Backup files are not needed,
++# because we have git ;-)
++_UpgradeReport_Files/
++Backup*/
++UpgradeLog*.XML
++UpgradeLog*.htm
++
++# SQL Server files
++*.mdf
++*.ldf
++
++# Business Intelligence projects
++*.rdl.data
++*.bim.layout
++*.bim_*.settings
++
++# Microsoft Fakes
++FakesAssemblies/
++
++# GhostDoc plugin setting file
++*.GhostDoc.xml
++
++# Node.js Tools for Visual Studio
++.ntvs_analysis.dat
++
++# Visual Studio 6 build log
++*.plg
++
++# Visual Studio 6 workspace options file
++*.opt
++
++# Visual Studio LightSwitch build output
++**/*.HTMLClient/GeneratedArtifacts
++**/*.DesktopClient/GeneratedArtifacts
++**/*.DesktopClient/ModelManifest.xml
++**/*.Server/GeneratedArtifacts
++**/*.Server/ModelManifest.xml
++_Pvt_Extensions
++
++# LightSwitch generated files
++GeneratedArtifacts/
++ModelManifest.xml
++
++# Paket dependency manager
++.paket/paket.exe
++
++# FAKE - F# Make
++.fake/
++html
++xml
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9541cd7..a2a563a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,268 +1,25 @@
+-# ----------------------------------------------------------------------------
+-#   Basic Configuration
+-# ----------------------------------------------------------------------------
+-CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
++cmake_minimum_required(VERSION 3.10)
+ 
+-set(CMAKE_CXX_STANDARD 11)
++project(DBow3 VERSION 1.0.0)
+ 
+-PROJECT(DBoW3)
+-set(PROJECT_VERSION "0.0.1")
+-string(REGEX MATCHALL "[0-9]" PROJECT_VERSION_PARTS "${PROJECT_VERSION}")
+-list(GET PROJECT_VERSION_PARTS 0 PROJECT_VERSION_MAJOR)
+-list(GET PROJECT_VERSION_PARTS 1 PROJECT_VERSION_MINOR)
+-list(GET PROJECT_VERSION_PARTS 2 PROJECT_VERSION_PATCH)
+-set(PROJECT_SOVERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")
++option(BUILD_EXAMPLES "Set to ON to build examples" OFF)
++option(BUILD_TESTS "Set to ON to build tests" OFF)
++option(BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON)
+ 
+-message("LIB_INSTALL_DIR: ${LIB_INSTALL_DIR}")
++# OpenCV
++option(USE_OPENCV_CONTRIB "Set on to use opencv-contrib" ON)
+ 
+-#------------------------------------------------------
+-# Build type
+-#------------------------------------------------------
++# Optimization
++option(USE_SIMD "Set on to enabel avx optimization" ON)
+ 
+-IF(NOT CMAKE_BUILD_TYPE )
+-   SET( CMAKE_BUILD_TYPE "Release" )
+-ENDIF()
+ 
+-#------------------------------------------------------
+-# Lib Names and Dirs
+-#------------------------------------------------------
++add_subdirectory(Lib)
+ 
+-if(WIN32)
+-    # Postfix of DLLs:
+-    SET(PROJECT_DLLVERSION "${PROJECT_VERSION_MAJOR}${PROJECT_VERSION_MINOR}${PROJECT_VERSION_PATCH}")
+-    SET(RUNTIME_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin CACHE PATH "Directory for dlls and binaries")
+-    SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin CACHE PATH "Directory for binaries")
+-    SET(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin CACHE PATH "Directory for dlls")
+-else()
+-    # Postfix of so's:
+-    set(PROJECT_DLLVERSION)
+-    set(LIB_INSTALL_DIR lib CACHE STRING "Install location of libraries (e.g. lib32 or lib64 for multilib installations)")
+-    SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}/cmake/ /usr/${LIB_INSTALL_DIR}/cmake )
+-endif()
++if(BUILD_EXAMPLES)
++    add_subdirectory(examples)
++endif(BUILD_EXAMPLES)
+ 
++if(BUILD_TESTS)
++    add_subdirectory(tests)
++endif(BUILD_TESTS)
+ 
+-
+-#
+-OPTION(BUILD_UTILS	"Set to OFF to not build utils" ON)
+-OPTION(USE_CONTRIB 	"Set to ON if contrib are installed" OFF)
+-OPTION(BUILD_SHARED_LIBS 	"Set to OFF to build static libraries" ON)
+-
+-# ----------------------------------------------------------------------------
+-#   Find Dependencies
+-# ----------------------------------------------------------------------------
+-find_package(OpenCV  REQUIRED)
+-IF(USE_CONTRIB)
+-add_definitions(-DUSE_CONTRIB)
+-ENDIF()
+-if(NOT OpenCV_VERSION VERSION_LESS "3.0")
+-    ADD_DEFINITIONS(-DOPENCV_VERSION_3)
+-    SET(OPENCV_VERSION_3 ON)
+-ELSE()
+-    SET(OPENCV_VERSION_3 OFF)
+-ENDIF()
+-
+-include_directories(${OpenCV_INCLUDE_DIRS})
+-
+-SET(REQUIRED_LIBRARIES ${REQUIRED_LIBRARIES} ${OpenCV_LIBS})
+-
+-# ----------------------------------------------------------------------------
+-#   PROJECT CONFIGURATION
+-#   force some variables that could be defined in the command line to be written to cache
+-# ----------------------------------------------------------------------------
+-OPTION(INSTALL_DOC 	"Set to ON to build/install Documentation" OFF)
+-IF (INSTALL_DOC)
+-    FIND_PACKAGE(Doxygen REQUIRED)
+-    MESSAGE( STATUS "INSTALL_DOC:         ${INSTALL_DOC} ")
+-    INCLUDE("${PROJECT_SOURCE_DIR}/generateDoc.cmake")
+-    GENERATE_DOCUMENTATION(${PROJECT_SOURCE_DIR}/dox.in)
+-ENDIF()
+- 
+-# ----------------------------------------------------------------------------
+-#   Uninstall target, for "make uninstall"
+-# ----------------------------------------------------------------------------
+-CONFIGURE_FILE( "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY)
+-ADD_CUSTOM_TARGET(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")
+-
+-# ----------------------------------------------------------------------------
+-# create configuration file from .in file (If you use windows take care with paths)
+-# ----------------------------------------------------------------------------
+-
+-CONFIGURE_FILE("${PROJECT_SOURCE_DIR}/config.cmake.in" "${PROJECT_BINARY_DIR}/Find${PROJECT_NAME}.cmake")
+-CONFIGURE_FILE("${PROJECT_SOURCE_DIR}/config.cmake.in" "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake")
+-INSTALL(FILES "${PROJECT_BINARY_DIR}/Find${PROJECT_NAME}.cmake" DESTINATION ${LIB_INSTALL_DIR}/cmake/ )
+-INSTALL(FILES "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" DESTINATION ${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME} )
+-
+-
+-
+-
+-# ----------------------------------------------------------------------------
+-#   Program Optimization and debug (Extracted from OpenCV)
+-# ----------------------------------------------------------------------------
+-set(WARNINGS_ARE_ERRORS 		OFF CACHE BOOL "Treat warnings as errors")
+-set(WHOLE_PROGRAM_OPTIMIZATION 	OFF CACHE BOOL "Flags for whole program optimization.")
+-
+-set(EXTRA_C_FLAGS "")
+-set(EXTRA_C_FLAGS_RELEASE "")
+-set(EXTRA_C_FLAGS_DEBUG "")
+-set(EXTRA_EXE_LINKER_FLAGS "")
+-set(EXTRA_EXE_LINKER_FLAGS_RELEASE "")
+-set(EXTRA_EXE_LINKER_FLAGS_DEBUG "")
+-
+-IF(CMAKE_COMPILER_IS_GNUCXX OR MINGW)
+-    set(ENABLE_PROFILING 		OFF CACHE BOOL "Enable profiling in the GCC compiler (Add flags: -g -pg)")
+-    set(USE_OMIT_FRAME_POINTER 	ON CACHE BOOL "Enable -fomit-frame-pointer for GCC")
+-    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm*) # We can use only -O2 because the -O3 causes gcc crash
+-        set(USE_O2 ON CACHE BOOL "Enable -O2 for GCC")
+-        set(USE_FAST_MATH OFF CACHE BOOL "Enable -ffast-math for GCC")
+-    endif()
+-    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES powerpc*)
+-        set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
+-        set(USE_POWERPC ON CACHE BOOL "Enable PowerPC for GCC")
+-    endif ()
+-    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES amd64* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64*)
+-        set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
+-        set(USE_FAST_MATH OFF CACHE BOOL "Enable -ffast-math for GCC")
+-        set(USE_MMX ON CACHE BOOL "Enable MMX for GCC")
+-        set(USE_SSE ON CACHE BOOL "Enable SSE for GCC")
+-        set(USE_SSE2 ON CACHE BOOL "Enable SSE2 for GCC")
+-        set(USE_SSE3 ON CACHE BOOL "Enable SSE3 for GCC")
+-    endif()
+-    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES i686* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES x86)
+-        set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
+-        set(USE_FAST_MATH OFF CACHE BOOL "Enable -ffast-math for GCC")
+-        set(USE_MMX ON CACHE BOOL "Enable MMX for GCC")
+-        set(USE_SSE OFF CACHE BOOL "Enable SSE for GCC")
+-        set(USE_SSE2 OFF CACHE BOOL "Enable SSE2 for GCC")
+-        set(USE_SSE3 OFF CACHE BOOL "Enable SSE3 for GCC")
+-    endif ()
+-
+-    set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Wall")
+-
+-    if(WARNINGS_ARE_ERRORS)
+-        set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Werror")
+-    endif()
+-
+-    # The -Wno-long-long is required in 64bit systems when including sytem headers.
+-    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES amd64*)
+-                set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Wno-long-long")
+-    endif()
+-
+-    # Whole program optimization
+-    if(WHOLE_PROGRAM_OPTIMIZATION)
+-        set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -fwhole-program --combine")
+-    endif()
+-
+-    # Other optimizations
+-    if(USE_OMIT_FRAME_POINTER)
+-       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -fomit-frame-pointer")
+-    endif()
+-    if(USE_O2)
+-       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -O2")
+-    endif()
+-    if(USE_O3)
+-       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -O3")
+-    endif()
+-    if(USE_FAST_MATH)
+-       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -ffast-math")
+-    endif()
+-    if(USE_POWERPC)
+-       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -mcpu=G3 -mtune=G5")
+-    endif()
+-    if(USE_MMX)
+-       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -mmmx")
+-    endif()
+-    if(USE_SSE)
+-       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse")
+-    endif()
+-    if(USE_SSE2)
+-       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse2")
+-    endif()
+-    if(USE_SSE3 AND NOT MINGW) # SSE3 should be disabled under MingW because it generates compiler errors
+-       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse3")
+-    endif()
+-
+-    if(ENABLE_PROFILING)
+-        set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -pg -g")
+-    else()
+-        if(NOT APPLE)
+-            set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -ffunction-sections")
+-        endif()
+-    endif()
+-
+-
+-    set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -DNDEBUG   ")
+-    set(EXTRA_C_FLAGS_DEBUG "-g3 -O0 -DDEBUG -D_DEBUG -W -Wextra -Wno-return-type   ")
+-
+-    MESSAGE( STATUS "-------------------------------------------------------------------------------" )
+-    message( STATUS "GNU COMPILER")
+-    MESSAGE( STATUS "-------------------------------------------------------------------------------" )
+-
+-
+-
+-
+-ELSE()  # MSVC
+-
+-
+-ENDIF()#END OF COMPILER SPECIFIC OPTIONS
+-SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS} ${EXTRA_C_FLAGS_RELEASE}")
+-SET(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS}  ${EXTRA_C_FLAGS_DEBUG}")
+-SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -std=c++11")
+-SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -std=c++11")
+-set(CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELEASE} ${CMAKE_C_FLAGS_DEBUG}")
+-set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_DEBUG}")
+-SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${EXTRA_EXE_LINKER_FLAGS}")
+-SET(CMAKE_EXE_LINKER_FLAGS_RELEASE "${CMAKE_EXE_LINKER_FLAGS_RELEASE} ${EXTRA_EXE_LINKER_FLAGS_RELEASE}")
+-SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "${CMAKE_EXE_LINKER_FLAGS_DEBUG} ${EXTRA_EXE_LINKER_FLAGS_DEBUG}")
+-
+-
+-
+-#------------------------------------------------
+-# DIRS
+-#------------------------------------------------
+-ADD_SUBDIRECTORY(src)
+-IF (BUILD_UTILS)
+-ADD_SUBDIRECTORY(utils)
+-ENDIF()
+-
+-IF (BUILD_TESTS)
+-ADD_SUBDIRECTORY(tests)
+-ENDIF()
+-
+-
+-# ----------------------------------------------------------------------------
+-# display status message for important variables
+-# ----------------------------------------------------------------------------
+-message( STATUS )
+-MESSAGE( STATUS "-------------------------------------------------------------------------------" )
+-message( STATUS "General configuration for ${PROJECT_NAME} ${PROJECT_VERSION}")
+-MESSAGE( STATUS "-------------------------------------------------------------------------------" )
+-message("    Built as dynamic libs?:" ${BUILD_SHARED_LIBS})
+-message("    Compiler:"                   "${CMAKE_COMPILER}"   "${CMAKE_CXX_COMPILER}")
+-
+-message( STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+-message( STATUS "C++ flags (Release):       ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_RELEASE}")
+-message( STATUS "C++ flags (Debug):         ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_DEBUG}")
+-message( STATUS "C++ flags (Relase+Debug):         ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
+-
+-message( STATUS "CMAKE_CXX_FLAGS:         ${CMAKE_CXX_FLAGS}")
+-message( STATUS "CMAKE_BINARY_DIR:         ${CMAKE_BINARY_DIR}")
+-
+-MESSAGE( STATUS )
+-MESSAGE( STATUS "CMAKE_SYSTEM_PROCESSOR = ${CMAKE_SYSTEM_PROCESSOR}" )
+-MESSAGE( STATUS "CMAKE_INSTALL_PREFIX = ${CMAKE_INSTALL_PREFIX}" )
+-MESSAGE( STATUS "CMAKE_BUILD_TYPE = ${CMAKE_BUILD_TYPE}" )
+-MESSAGE( STATUS "CMAKE_MODULE_PATH = ${CMAKE_MODULE_PATH}" )
+-MESSAGE( STATUS "BUILD_UTILS= ${BUILD_UTILS}" )
+-MESSAGE( STATUS "BUILD_TESTS= ${BUILD_TESTS}" )
+-MESSAGE( STATUS "OPENCV_DIR= ${OpenCV_DIR} VERSION=${OpenCV_VERSION}" )
+-
+-MESSAGE( STATUS "USE_CONTRIB= ${USE_CONTRIB}" )
+-
+-MESSAGE( STATUS )
+-MESSAGE( STATUS "OpenCV_LIB_DIR=${OpenCV_LIB_DIR}")
+-MESSAGE( STATUS "CMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}")
+-
+-MESSAGE( STATUS )
+-MESSAGE( STATUS )
+-MESSAGE( STATUS "Change a value with: cmake -D<Variable>=<Value>" )
+-MESSAGE( STATUS )
+diff --git a/Lib/CMakeLists.txt b/Lib/CMakeLists.txt
+new file mode 100644
+index 0000000..e56077b
+--- /dev/null
++++ b/Lib/CMakeLists.txt
+@@ -0,0 +1,99 @@
++cmake_minimum_required(VERSION 3.10)
++
++find_package(OpenCV REQUIRED)
++
++find_package(OpenMP  REQUIRED)
++
++include(${CMAKE_SOURCE_DIR}/cmake/instructionSet.cmake)
++
++if(BUILD_SHARED_LIBS)
++    add_library(DBow3 SHARED)
++
++    target_compile_definitions(DBow3 
++                               PUBLIC 
++                               DBOW_API
++    )
++    
++else()
++    add_library(DBow3 STATIC)
++endif()
++
++add_library(DBow3::DBow3 ALIAS DBow3)
++
++target_sources(DBow3 
++               PRIVATE 
++               src/BowVector.cpp
++               src/Database.cpp
++               src/DescManip.cpp
++               src/FeatureVector.cpp
++               src/QueryResults.cpp
++               src/ScoringObject.cpp
++               src/Vocabulary.cpp
++               src/quicklz.c
++)
++
++target_include_directories(DBow3
++                           PUBLIC
++                           $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
++                           $<INSTALL_INTERFACE:include>
++)
++
++target_link_libraries(DBow3
++                      PUBLIC
++                      OpenMP::OpenMP_CXX
++)
++
++if(USE_OPENCV_CONTRIB)
++target_link_libraries(DBow3
++                      PUBLIC 
++                      ${OpenCV_LIBS}
++)
++
++target_include_directories(DBow3
++                           PUBLIC
++                           ${OpenCV_INCLUDE_DIR}
++)
++endif()
++
++if(USE_SIMD)
++	target_link_libraries(DBow3
++                        PRIVATE 
++                        SIMD::SSE4.1
++	)
++endif()
++
++target_compile_definitions(DBow3 
++                           PUBLIC 
++                           NOMINMAX 
++                           _USE_MATH_DEFINES
++)
++
++target_compile_features(DBow3
++                        PRIVATE 
++                        cxx_std_14
++)
++
++
++install(TARGETS DBow3 EXPORT DBow3Targets
++        LIBRARY  DESTINATION lib
++        ARCHIVE  DESTINATION lib
++        RUNTIME  DESTINATION bin
++        INCLUDES DESTINATION include
++)
++
++install (DIRECTORY include/ DESTINATION include)
++
++install(EXPORT DBow3Targets
++        FILE DBow3Targets.cmake
++        NAMESPACE DBow3::
++        DESTINATION cmake/DBow3
++)
++
++include(CMakePackageConfigHelpers)
++
++write_basic_package_version_file(DBow3ConfigVersion.cmake
++	                             COMPATIBILITY SameMajorVersion
++)
++
++install(FILES DBow3Config.cmake ${CMAKE_CURRENT_BINARY_DIR}/DBow3ConfigVersion.cmake
++        DESTINATION cmake/DBow3)
+
+diff --git a/Lib/DBow3Config.cmake b/Lib/DBow3Config.cmake
+new file mode 100644
+index 0000000..9720a14
+--- /dev/null
++++ b/Lib/DBow3Config.cmake
+@@ -0,0 +1,4 @@
++include(CMakeFindDependencyMacro)
++find_dependency(OpenCV)
++find_dependency(OpenMP)
++include("${CMAKE_CURRENT_LIST_DIR}/FbowTargets.cmake")
+
+diff --git a/src/BowVector.h b/Lib/include/DBow3/BowVector.h
+similarity index 99%
+rename from src/BowVector.h
+rename to Lib/include/DBow3/BowVector.h
+index d8c17e0..cdbf517 100644
+--- a/src/BowVector.h
++++ b/Lib/include/DBow3/BowVector.h
+@@ -12,6 +12,7 @@
+ 
+ #include <map>
+ #include <vector>
++#include <ostream>
+ #include "exports.h"
+ #if _WIN32
+ #include <cstdint>
+diff --git a/src/DBoW3.h b/Lib/include/DBow3/DBoW3.h
+similarity index 100%
+rename from src/DBoW3.h
+rename to Lib/include/DBow3/DBoW3.h
+diff --git a/src/Database.h b/Lib/include/DBow3/Database.h
+similarity index 100%
+rename from src/Database.h
+rename to Lib/include/DBow3/Database.h
+diff --git a/src/DescManip.h b/Lib/include/DBow3/DescManip.h
+similarity index 100%
+rename from src/DescManip.h
+rename to Lib/include/DBow3/DescManip.h
+diff --git a/src/FeatureVector.h b/Lib/include/DBow3/FeatureVector.h
+similarity index 100%
+rename from src/FeatureVector.h
+rename to Lib/include/DBow3/FeatureVector.h
+diff --git a/src/QueryResults.h b/Lib/include/DBow3/QueryResults.h
+similarity index 100%
+rename from src/QueryResults.h
+rename to Lib/include/DBow3/QueryResults.h
+diff --git a/src/ScoringObject.h b/Lib/include/DBow3/ScoringObject.h
+similarity index 100%
+rename from src/ScoringObject.h
+rename to Lib/include/DBow3/ScoringObject.h
+diff --git a/src/Vocabulary.h b/Lib/include/DBow3/Vocabulary.h
+similarity index 100%
+rename from src/Vocabulary.h
+rename to Lib/include/DBow3/Vocabulary.h
+diff --git a/src/exports.h b/Lib/include/DBow3/exports.h
+similarity index 78%
+rename from src/exports.h
+rename to Lib/include/DBow3/exports.h
+index c324953..a31b317 100644
+--- a/src/exports.h
++++ b/Lib/include/DBow3/exports.h
+@@ -35,17 +35,15 @@ or implied, of Rafael Muñoz Salinas.
+ #define _CRT_SECURE_NO_DEPRECATE /* to avoid multiple Visual Studio 2005 warnings */
+ #endif
+ 
+-#if (defined WIN32 || defined _WIN32 || defined WINCE)   && defined DBOW_DSO_EXPORTS
+-    #define DBOW_API __declspec(dllexport)
+-    #pragma warning ( disable : 4251 ) //disable warning to templates with dll linkage.
+-    #pragma warning ( disable : 4290 ) //disable warning due to exception specifications.
+-    #pragma warning ( disable : 4996 ) //disable warning regarding unsafe vsprintf.
+-    #pragma warning ( disable : 4244 ) //disable warning convesions with lost of data.
+-
++#ifdef _WIN32
++#    ifdef DBOW_API
++#        define DBOW_API __declspec(dllexport)
++#    else
++#        define DBOW_API __declspec(dllimport)
++#    endif
+ #else
+-    #define DBOW_API
++#    define DBOW_API
+ #endif
+ 
+-
+ #define  DBOW_VERSION "3.0.0"
+ #endif
+diff --git a/src/quicklz.h b/Lib/include/DBow3/quicklz.h
+similarity index 100%
+rename from src/quicklz.h
+rename to Lib/include/DBow3/quicklz.h
+diff --git a/src/timers.h b/Lib/include/DBow3/timers.h
+similarity index 100%
+rename from src/timers.h
+rename to Lib/include/DBow3/timers.h
+diff --git a/src/BowVector.cpp b/Lib/src/BowVector.cpp
+similarity index 99%
+rename from src/BowVector.cpp
+rename to Lib/src/BowVector.cpp
+index d132213..f61d421 100644
+--- a/src/BowVector.cpp
++++ b/Lib/src/BowVector.cpp
+@@ -13,7 +13,7 @@
+ #include <algorithm>
+ #include <cmath>
+ 
+-#include "BowVector.h"
++#include "DBow3/BowVector.h"
+ 
+ namespace DBoW3 {
+ 
+diff --git a/src/Database.cpp b/Lib/src/Database.cpp
+similarity index 99%
+rename from src/Database.cpp
+rename to Lib/src/Database.cpp
+index d8a1b81..25610a0 100644
+--- a/src/Database.cpp
++++ b/Lib/src/Database.cpp
+@@ -1,4 +1,4 @@
+-#include "Database.h"
++#include "DBow3/Database.h"
+ 
+ namespace DBoW3{
+ 
+diff --git a/src/DescManip.cpp b/Lib/src/DescManip.cpp
+similarity index 96%
+rename from src/DescManip.cpp
+rename to Lib/src/DescManip.cpp
+index d6331af..430ce2b 100644
+--- a/src/DescManip.cpp
++++ b/Lib/src/DescManip.cpp
+@@ -1,273 +1,273 @@
+-/**
+- * File: DescManip.cpp
+- * Date: June 2012
+- * Author: Dorian Galvez-Lopez
+- * Description: functions for ORB descriptors
+- * License: see the LICENSE.txt file
+- *
+- */
+- 
+-#include <vector>
+-#include <string>
+-#include <sstream>
+-#include <iostream>
+-#include <stdint.h>
+-#include <limits.h>
+-
+-#include "DescManip.h"
+-
+-using namespace std;
+-
+-namespace DBoW3 {
+-
+-// --------------------------------------------------------------------------
+-
+-void DescManip::meanValue(const std::vector<cv::Mat> &descriptors,
+-                       cv::Mat &mean)
+-{
+-
+-    if(descriptors.empty()) return;
+-
+-    if(descriptors.size() == 1)
+-    {
+-        mean = descriptors[0].clone();
+-        return;
+-    }
+-    //binary descriptor
+-    if (descriptors[0].type()==CV_8U ){
+-        //determine number of bytes of the binary descriptor
+-        int L= getDescSizeBytes( descriptors[0]);
+-        vector<int> sum( L * 8, 0);
+-
+-        for(size_t i = 0; i < descriptors.size(); ++i)
+-        {
+-            const cv::Mat &d = descriptors[i];
+-            const unsigned char *p = d.ptr<unsigned char>();
+-
+-            for(int j = 0; j < d.cols; ++j, ++p)
+-            {
+-                if(*p & (1 << 7)) ++sum[ j*8     ];
+-                if(*p & (1 << 6)) ++sum[ j*8 + 1 ];
+-                if(*p & (1 << 5)) ++sum[ j*8 + 2 ];
+-                if(*p & (1 << 4)) ++sum[ j*8 + 3 ];
+-                if(*p & (1 << 3)) ++sum[ j*8 + 4 ];
+-                if(*p & (1 << 2)) ++sum[ j*8 + 5 ];
+-                if(*p & (1 << 1)) ++sum[ j*8 + 6 ];
+-                if(*p & (1))      ++sum[ j*8 + 7 ];
+-            }
+-        }
+-
+-        mean = cv::Mat::zeros(1, L, CV_8U);
+-        unsigned char *p = mean.ptr<unsigned char>();
+-
+-        const int N2 = (int)descriptors.size() / 2 + descriptors.size() % 2;
+-        for(size_t i = 0; i < sum.size(); ++i)
+-        {
+-            if(sum[i] >= N2)
+-            {
+-                // set bit
+-                *p |= 1 << (7 - (i % 8));
+-            }
+-
+-            if(i % 8 == 7) ++p;
+-        }
+-    }
+-    //non binary descriptor
+-    else{
+-        assert(descriptors[0].type()==CV_32F );//ensure it is float
+-
+-        mean.create(1, descriptors[0].cols,descriptors[0].type());
+-        mean.setTo(cv::Scalar::all(0));
+-        float inv_s =1./double( descriptors.size());
+-        for(size_t i=0;i<descriptors.size();i++)
+-            mean +=  descriptors[i] * inv_s;
+-
+-    }
+-
+-}
+-
+-// --------------------------------------------------------------------------
+-static  inline uint32_t distance_8uc1(const cv::Mat &a, const cv::Mat &b);
+-
+-double DescManip::distance(const cv::Mat &a,  const cv::Mat &b)
+-{
+-
+-    //binary descriptor
+-    if (a.type()==CV_8U){
+-
+-        // Bit count function got from:
+-         // http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetKernighan
+-         // This implementation assumes that a.cols (CV_8U) % sizeof(uint64_t) == 0
+-
+-         const uint64_t *pa, *pb;
+-         pa = a.ptr<uint64_t>(); // a & b are actually CV_8U
+-         pb = b.ptr<uint64_t>();
+-
+-         uint64_t v, ret = 0;
+-         for(size_t i = 0; i < a.cols / sizeof(uint64_t); ++i, ++pa, ++pb)
+-         {
+-           v = *pa ^ *pb;
+-           v = v - ((v >> 1) & (uint64_t)~(uint64_t)0/3);
+-           v = (v & (uint64_t)~(uint64_t)0/15*3) + ((v >> 2) &
+-             (uint64_t)~(uint64_t)0/15*3);
+-           v = (v + (v >> 4)) & (uint64_t)~(uint64_t)0/255*15;
+-           ret += (uint64_t)(v * ((uint64_t)~(uint64_t)0/255)) >>
+-             (sizeof(uint64_t) - 1) * CHAR_BIT;
+-         }
+-
+-         return ret;
+-    }
+-    else{
+-        double sqd = 0.;
+-        assert(a.type()==CV_32F);
+-        assert(a.rows==1);
+-        const float *a_ptr=a.ptr<float>(0);
+-        const float *b_ptr=b.ptr<float>(0);
+-        for(int i = 0; i < a.cols; i ++)
+-            sqd += (a_ptr[i  ] - b_ptr[i  ])*(a_ptr[i  ] - b_ptr[i  ]);
+-        return sqd;
+-    }
+-}
+-
+-
+-
+-
+-// --------------------------------------------------------------------------
+-  
+-std::string DescManip::toString(const cv::Mat &a)
+-{
+-    stringstream ss;
+-    //introduce a magic value to distinguish from DBOw2
+-    ss<<"dbw3 ";
+-    //save size and type
+-
+-
+-    ss <<a.type()<<" "<<a.cols<<" ";
+-
+-    if (a.type()==CV_8U){
+-        const unsigned char *p = a.ptr<unsigned char>();
+-        for(int i = 0; i < a.cols; ++i, ++p)
+-            ss << (int)*p << " ";
+-    }else{
+-
+-        const float *p = a.ptr<float>();
+-        for(int i = 0; i < a.cols; ++i, ++p)
+-            ss <<  *p << " ";
+-
+-    }
+-
+-    return ss.str();
+-}
+-
+-// --------------------------------------------------------------------------
+-  
+-void DescManip::fromString(cv::Mat &a, const std::string &s)
+-{
+-
+-    //check if the dbow3 is present
+-    string ss_aux;ss_aux.reserve(10);
+-    for(size_t i=0;i<10 && i<s.size();i++)
+-        ss_aux.push_back(s[i]);
+-    if(ss_aux.find("dbw3")==std::string::npos){//is dbow2
+-        //READ UNTIL END
+-        stringstream ss(s);
+-        int val;
+-        vector<uchar> data;data.reserve(100);
+-        while( ss>>val) data.push_back(val);
+-        //copy to a
+-        a.create(1,data.size(),CV_8UC1);
+-        memcpy(a.ptr<char>(0),&data[0],data.size());
+-    }
+-    else {
+-        char szSign[10];
+-        int type,cols;
+-        stringstream ss(s);
+-        ss >> szSign >> type >> cols;
+-        a.create(1,  cols, type);
+-        if(type==CV_8UC1){
+-            unsigned char *p = a.ptr<unsigned char>();
+-            int n;
+-            for(int i = 0; i <  a.cols; ++i, ++p)
+-                if ( ss >> n) *p = (unsigned char)n;
+-        }
+-        else{
+-            float *p = a.ptr<float>();
+-            for(int i = 0; i <  a.cols; ++i, ++p)
+-                if ( !(ss >> *p))cerr<<"Error reading. Unexpected EOF. DescManip::fromString"<<endl;
+-        }
+-
+-    }
+-
+-}
+-
+-// --------------------------------------------------------------------------
+-
+-void DescManip::toMat32F(const std::vector<cv::Mat> &descriptors,
+-                     cv::Mat &mat)
+-{
+-    if(descriptors.empty())
+-    {
+-        mat.release();
+-        return;
+-    }
+-
+-    if(descriptors[0].type()==CV_8UC1){
+-
+-        const size_t N = descriptors.size();
+-        int L=getDescSizeBytes(descriptors[0]);
+-        mat.create(N,  L*8, CV_32F);
+-        float *p = mat.ptr<float>();
+-
+-        for(size_t i = 0; i < N; ++i)
+-        {
+-            const int C = descriptors[i].cols;
+-            const unsigned char *desc = descriptors[i].ptr<unsigned char>();
+-
+-            for(int j = 0; j < C; ++j, p += 8)
+-            {
+-                p[0] = (desc[j] & (1 << 7) ? 1 : 0);
+-                p[1] = (desc[j] & (1 << 6) ? 1 : 0);
+-                p[2] = (desc[j] & (1 << 5) ? 1 : 0);
+-                p[3] = (desc[j] & (1 << 4) ? 1 : 0);
+-                p[4] = (desc[j] & (1 << 3) ? 1 : 0);
+-                p[5] = (desc[j] & (1 << 2) ? 1 : 0);
+-                p[6] = (desc[j] & (1 << 1) ? 1 : 0);
+-                p[7] = desc[j] & (1);
+-            }
+-        }
+-    }
+-    else{
+-        assert(descriptors[0].type()==CV_32F);
+-        const int N = descriptors.size();
+-        int L=descriptors[0].cols;
+-        mat.create(N, L, CV_32F);
+-        for(int i = 0; i < N; ++i)
+-            memcpy(mat.ptr<float>(i),descriptors[i].ptr<float>(0),sizeof(float)*L);
+-    }
+-}
+-
+-void DescManip::toStream(const cv::Mat &m,std::ostream &str){
+-    assert(m.rows==1 || m.isContinuous());
+-    int type=m.type();
+-    int cols=m.cols;
+-    int rows=m.rows;
+-    str.write((char*)&cols,sizeof(cols));
+-    str.write((char*)&rows,sizeof(rows));
+-    str.write((char*)&type,sizeof(type));
+-    str.write((char*)m.ptr<char>(0),m.elemSize()*m.cols);
+-}
+-
+-void DescManip::fromStream(cv::Mat &m,std::istream &str){
+-    int type,cols,rows;
+-    str.read((char*)&cols,sizeof(cols));
+-    str.read((char*)&rows,sizeof(rows));
+-    str.read((char*)&type,sizeof(type));
+-    m.create(rows,cols,type);
+-    str.read((char*)m.ptr<char>(0),m.elemSize()*m.cols);
+-}
+-
+-
+-// --------------------------------------------------------------------------
+-
+-} // namespace DBoW3
+-
++/**
++ * File: DescManip.cpp
++ * Date: June 2012
++ * Author: Dorian Galvez-Lopez
++ * Description: functions for ORB descriptors
++ * License: see the LICENSE.txt file
++ *
++ */
++ 
++#include <vector>
++#include <string>
++#include <sstream>
++#include <iostream>
++#include <stdint.h>
++#include <limits.h>
++
++#include "DBow3/DescManip.h"
++
++using namespace std;
++
++namespace DBoW3 {
++
++// --------------------------------------------------------------------------
++
++void DescManip::meanValue(const std::vector<cv::Mat> &descriptors,
++                       cv::Mat &mean)
++{
++
++    if(descriptors.empty()) return;
++
++    if(descriptors.size() == 1)
++    {
++        mean = descriptors[0].clone();
++        return;
++    }
++    //binary descriptor
++    if (descriptors[0].type()==CV_8U ){
++        //determine number of bytes of the binary descriptor
++        int L= getDescSizeBytes( descriptors[0]);
++        vector<int> sum( L * 8, 0);
++
++        for(size_t i = 0; i < descriptors.size(); ++i)
++        {
++            const cv::Mat &d = descriptors[i];
++            const unsigned char *p = d.ptr<unsigned char>();
++
++            for(int j = 0; j < d.cols; ++j, ++p)
++            {
++                if(*p & (1 << 7)) ++sum[ j*8     ];
++                if(*p & (1 << 6)) ++sum[ j*8 + 1 ];
++                if(*p & (1 << 5)) ++sum[ j*8 + 2 ];
++                if(*p & (1 << 4)) ++sum[ j*8 + 3 ];
++                if(*p & (1 << 3)) ++sum[ j*8 + 4 ];
++                if(*p & (1 << 2)) ++sum[ j*8 + 5 ];
++                if(*p & (1 << 1)) ++sum[ j*8 + 6 ];
++                if(*p & (1))      ++sum[ j*8 + 7 ];
++            }
++        }
++
++        mean = cv::Mat::zeros(1, L, CV_8U);
++        unsigned char *p = mean.ptr<unsigned char>();
++
++        const int N2 = (int)descriptors.size() / 2 + descriptors.size() % 2;
++        for(size_t i = 0; i < sum.size(); ++i)
++        {
++            if(sum[i] >= N2)
++            {
++                // set bit
++                *p |= 1 << (7 - (i % 8));
++            }
++
++            if(i % 8 == 7) ++p;
++        }
++    }
++    //non binary descriptor
++    else{
++        assert(descriptors[0].type()==CV_32F );//ensure it is float
++
++        mean.create(1, descriptors[0].cols,descriptors[0].type());
++        mean.setTo(cv::Scalar::all(0));
++        float inv_s =1./double( descriptors.size());
++        for(size_t i=0;i<descriptors.size();i++)
++            mean +=  descriptors[i] * inv_s;
++
++    }
++
++}
++
++// --------------------------------------------------------------------------
++static  inline uint32_t distance_8uc1(const cv::Mat &a, const cv::Mat &b);
++
++double DescManip::distance(const cv::Mat &a,  const cv::Mat &b)
++{
++
++    //binary descriptor
++    if (a.type()==CV_8U){
++
++        // Bit count function got from:
++         // http://graphics.stanford.edu/~seander/bithacks.html#CountBitsSetKernighan
++         // This implementation assumes that a.cols (CV_8U) % sizeof(uint64_t) == 0
++
++         const uint64_t *pa, *pb;
++         pa = a.ptr<uint64_t>(); // a & b are actually CV_8U
++         pb = b.ptr<uint64_t>();
++
++         uint64_t v, ret = 0;
++         for(size_t i = 0; i < a.cols / sizeof(uint64_t); ++i, ++pa, ++pb)
++         {
++           v = *pa ^ *pb;
++           v = v - ((v >> 1) & (uint64_t)~(uint64_t)0/3);
++           v = (v & (uint64_t)~(uint64_t)0/15*3) + ((v >> 2) &
++             (uint64_t)~(uint64_t)0/15*3);
++           v = (v + (v >> 4)) & (uint64_t)~(uint64_t)0/255*15;
++           ret += (uint64_t)(v * ((uint64_t)~(uint64_t)0/255)) >>
++             (sizeof(uint64_t) - 1) * CHAR_BIT;
++         }
++
++         return ret;
++    }
++    else{
++        double sqd = 0.;
++        assert(a.type()==CV_32F);
++        assert(a.rows==1);
++        const float *a_ptr=a.ptr<float>(0);
++        const float *b_ptr=b.ptr<float>(0);
++        for(int i = 0; i < a.cols; i ++)
++            sqd += (a_ptr[i  ] - b_ptr[i  ])*(a_ptr[i  ] - b_ptr[i  ]);
++        return sqd;
++    }
++}
++
++
++
++
++// --------------------------------------------------------------------------
++  
++std::string DescManip::toString(const cv::Mat &a)
++{
++    stringstream ss;
++    //introduce a magic value to distinguish from DBOw2
++    ss<<"dbw3 ";
++    //save size and type
++
++
++    ss <<a.type()<<" "<<a.cols<<" ";
++
++    if (a.type()==CV_8U){
++        const unsigned char *p = a.ptr<unsigned char>();
++        for(int i = 0; i < a.cols; ++i, ++p)
++            ss << (int)*p << " ";
++    }else{
++
++        const float *p = a.ptr<float>();
++        for(int i = 0; i < a.cols; ++i, ++p)
++            ss <<  *p << " ";
++
++    }
++
++    return ss.str();
++}
++
++// --------------------------------------------------------------------------
++  
++void DescManip::fromString(cv::Mat &a, const std::string &s)
++{
++
++    //check if the dbow3 is present
++    string ss_aux;ss_aux.reserve(10);
++    for(size_t i=0;i<10 && i<s.size();i++)
++        ss_aux.push_back(s[i]);
++    if(ss_aux.find("dbw3")==std::string::npos){//is dbow2
++        //READ UNTIL END
++        stringstream ss(s);
++        int val;
++        vector<uchar> data;data.reserve(100);
++        while( ss>>val) data.push_back(val);
++        //copy to a
++        a.create(1,data.size(),CV_8UC1);
++        memcpy(a.ptr<char>(0),&data[0],data.size());
++    }
++    else {
++        char szSign[10];
++        int type,cols;
++        stringstream ss(s);
++        ss >> szSign >> type >> cols;
++        a.create(1,  cols, type);
++        if(type==CV_8UC1){
++            unsigned char *p = a.ptr<unsigned char>();
++            int n;
++            for(int i = 0; i <  a.cols; ++i, ++p)
++                if ( ss >> n) *p = (unsigned char)n;
++        }
++        else{
++            float *p = a.ptr<float>();
++            for(int i = 0; i <  a.cols; ++i, ++p)
++                if ( !(ss >> *p))cerr<<"Error reading. Unexpected EOF. DescManip::fromString"<<endl;
++        }
++
++    }
++
++}
++
++// --------------------------------------------------------------------------
++
++void DescManip::toMat32F(const std::vector<cv::Mat> &descriptors,
++                     cv::Mat &mat)
++{
++    if(descriptors.empty())
++    {
++        mat.release();
++        return;
++    }
++
++    if(descriptors[0].type()==CV_8UC1){
++
++        const size_t N = descriptors.size();
++        int L=getDescSizeBytes(descriptors[0]);
++        mat.create(N,  L*8, CV_32F);
++        float *p = mat.ptr<float>();
++
++        for(size_t i = 0; i < N; ++i)
++        {
++            const int C = descriptors[i].cols;
++            const unsigned char *desc = descriptors[i].ptr<unsigned char>();
++
++            for(int j = 0; j < C; ++j, p += 8)
++            {
++                p[0] = (desc[j] & (1 << 7) ? 1 : 0);
++                p[1] = (desc[j] & (1 << 6) ? 1 : 0);
++                p[2] = (desc[j] & (1 << 5) ? 1 : 0);
++                p[3] = (desc[j] & (1 << 4) ? 1 : 0);
++                p[4] = (desc[j] & (1 << 3) ? 1 : 0);
++                p[5] = (desc[j] & (1 << 2) ? 1 : 0);
++                p[6] = (desc[j] & (1 << 1) ? 1 : 0);
++                p[7] = desc[j] & (1);
++            }
++        }
++    }
++    else{
++        assert(descriptors[0].type()==CV_32F);
++        const int N = descriptors.size();
++        int L=descriptors[0].cols;
++        mat.create(N, L, CV_32F);
++        for(int i = 0; i < N; ++i)
++            memcpy(mat.ptr<float>(i),descriptors[i].ptr<float>(0),sizeof(float)*L);
++    }
++}
++
++void DescManip::toStream(const cv::Mat &m,std::ostream &str){
++    assert(m.rows==1 || m.isContinuous());
++    int type=m.type();
++    int cols=m.cols;
++    int rows=m.rows;
++    str.write((char*)&cols,sizeof(cols));
++    str.write((char*)&rows,sizeof(rows));
++    str.write((char*)&type,sizeof(type));
++    str.write((char*)m.ptr<char>(0),m.elemSize()*m.cols);
++}
++
++void DescManip::fromStream(cv::Mat &m,std::istream &str){
++    int type,cols,rows;
++    str.read((char*)&cols,sizeof(cols));
++    str.read((char*)&rows,sizeof(rows));
++    str.read((char*)&type,sizeof(type));
++    m.create(rows,cols,type);
++    str.read((char*)m.ptr<char>(0),m.elemSize()*m.cols);
++}
++
++
++// --------------------------------------------------------------------------
++
++} // namespace DBoW3
++
+diff --git a/src/FeatureVector.cpp b/Lib/src/FeatureVector.cpp
+similarity index 98%
+rename from src/FeatureVector.cpp
+rename to Lib/src/FeatureVector.cpp
+index 880eab1..a9cd792 100644
+--- a/src/FeatureVector.cpp
++++ b/Lib/src/FeatureVector.cpp
+@@ -7,7 +7,7 @@
+  *
+  */
+ 
+-#include "FeatureVector.h"
++#include "DBow3/FeatureVector.h"
+ #include <map>
+ #include <vector>
+ #include <iostream>
+diff --git a/src/QueryResults.cpp b/Lib/src/QueryResults.cpp
+similarity index 97%
+rename from src/QueryResults.cpp
+rename to Lib/src/QueryResults.cpp
+index 7062400..b852979 100644
+--- a/src/QueryResults.cpp
++++ b/Lib/src/QueryResults.cpp
+@@ -9,7 +9,7 @@
+ 
+ #include <iostream>
+ #include <fstream>
+-#include "QueryResults.h"
++#include "DBow3/QueryResults.h"
+ 
+ using namespace std;
+ 
+diff --git a/src/ScoringObject.cpp b/Lib/src/ScoringObject.cpp
+similarity index 99%
+rename from src/ScoringObject.cpp
+rename to Lib/src/ScoringObject.cpp
+index 7cf0812..adde8e9 100644
+--- a/src/ScoringObject.cpp
++++ b/Lib/src/ScoringObject.cpp
+@@ -8,8 +8,8 @@
+  */
+ 
+ #include <cfloat>
+-#include "Vocabulary.h"
+-#include "BowVector.h"
++#include "DBow3/Vocabulary.h"
++#include "DBow3/BowVector.h"
+ 
+ using namespace DBoW3;
+ 
+diff --git a/src/Vocabulary.cpp b/Lib/src/Vocabulary.cpp
+similarity index 99%
+rename from src/Vocabulary.cpp
+rename to Lib/src/Vocabulary.cpp
+index 9f0eff3..6ccbbea 100644
+--- a/src/Vocabulary.cpp
++++ b/Lib/src/Vocabulary.cpp
+@@ -1,8 +1,8 @@
+-#include "Vocabulary.h"
+-#include "DescManip.h"
+-#include "quicklz.h"
++#include "DBow3/Vocabulary.h"
++#include "DBow3/DescManip.h"
++#include "DBow3/quicklz.h"
+ #include <sstream>
+-#include "timers.h"
++#include "DBow3/timers.h"
+ namespace DBoW3{
+ // --------------------------------------------------------------------------
+ 
+diff --git a/src/quicklz.c b/Lib/src/quicklz.c
+similarity index 99%
+rename from src/quicklz.c
+rename to Lib/src/quicklz.c
+index 3742129..bd3cb11 100644
+--- a/src/quicklz.c
++++ b/Lib/src/quicklz.c
+@@ -9,7 +9,7 @@
+ 
+ // 1.5.0 final
+ 
+-#include "quicklz.h"
++#include "DBow3/quicklz.h"
+ 
+ #if QLZ_VERSION_MAJOR != 1 || QLZ_VERSION_MINOR != 5 || QLZ_VERSION_REVISION != 0
+ 	#error quicklz.c and quicklz.h have different versions
+diff --git a/cmake/instructionSet.cmake b/cmake/instructionSet.cmake
+new file mode 100644
+index 0000000..d0febeb
+--- /dev/null
++++ b/cmake/instructionSet.cmake
+@@ -0,0 +1,13 @@
++add_library(
++  SSE4.1
++  INTERFACE
++)
++
++add_library(SIMD::SSE4.1 ALIAS SSE4.1)
++
++target_compile_options(
++  SSE4.1
++  INTERFACE
++  $<$<PLATFORM_ID:Linux>:-msse4.1;-march=native>
++  $<$<PLATFORM_ID:Windows>:/arch:AVX2>
++)
+diff --git a/cmake_uninstall.cmake.in b/cmake_uninstall.cmake.in
+deleted file mode 100644
+index 81482da..0000000
+--- a/cmake_uninstall.cmake.in
++++ /dev/null
+@@ -1,28 +0,0 @@
+-# -----------------------------------------------
+-# File that provides "make uninstall" target
+-#  We use the file 'install_manifest.txt'
+-# -----------------------------------------------
+-IF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+-  MESSAGE(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
+-ENDIF(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
+-
+-FILE(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
+-STRING(REGEX REPLACE "\n" ";" files "${files}")
+-FOREACH(file ${files})
+-  MESSAGE(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
+-#  IF(EXISTS "$ENV{DESTDIR}${file}")
+-#    EXEC_PROGRAM(
+-#      "@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
+-#      OUTPUT_VARIABLE rm_out
+-#      RETURN_VALUE rm_retval
+-#      )
+-	EXECUTE_PROCESS(COMMAND rm $ENV{DESTDIR}${file})
+-#    IF(NOT "${rm_retval}" STREQUAL 0)
+-#      MESSAGE(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
+-#    ENDIF(NOT "${rm_retval}" STREQUAL 0)
+-#  ELSE(EXISTS "$ENV{DESTDIR}${file}")
+-#    MESSAGE(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
+-#  ENDIF(EXISTS "$ENV{DESTDIR}${file}")
+-ENDFOREACH(file)
+-
+-
+diff --git a/config.cmake.in b/config.cmake.in
+deleted file mode 100644
+index 9d15feb..0000000
+--- a/config.cmake.in
++++ /dev/null
+@@ -1,36 +0,0 @@
+-# ===================================================================================
+-#  @PROJECT_NAME@ CMake configuration file
+-#
+-#             ** File generated automatically, do not modify **
+-#
+-#  Usage from an external project:
+-#    In your CMakeLists.txt, add these lines:
+-#
+-#    FIND_PACKAGE(@PROJECT_NAME@ REQUIRED )
+-#    TARGET_LINK_LIBRARIES(MY_TARGET_NAME ${@PROJECT_NAME@_LIBS})
+-#
+-#    This file will define the following variables:
+-#      - @PROJECT_NAME@_LIBS          : The list of libraries to links against.
+-#      - @PROJECT_NAME@_LIB_DIR       : The directory where lib files are. Calling LINK_DIRECTORIES
+-#                                with this path is NOT needed.
+-#      - @PROJECT_NAME@_VERSION       : The  version of this PROJECT_NAME build. Example: "1.2.0"
+-#      - @PROJECT_NAME@_VERSION_MAJOR : Major version part of VERSION. Example: "1"
+-#      - @PROJECT_NAME@_VERSION_MINOR : Minor version part of VERSION. Example: "2"
+-#      - @PROJECT_NAME@_VERSION_PATCH : Patch version part of VERSION. Example: "0"
+-#
+-# ===================================================================================
+-INCLUDE_DIRECTORIES("@CMAKE_INSTALL_PREFIX@/include")
+-SET(@PROJECT_NAME@_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include")
+-
+-LINK_DIRECTORIES("@CMAKE_INSTALL_PREFIX@/@LIB_INSTALL_DIR@")
+-SET(@PROJECT_NAME@_LIB_DIR "@CMAKE_INSTALL_PREFIX@/@LIB_INSTALL_DIR@")
+-
+-SET(@PROJECT_NAME@_LIBS @REQUIRED_LIBRARIES@ @PROJECT_NAME@@PROJECT_DLLVERSION@)
+-SET(@PROJECT_NAME@_LIBRARIES @REQUIRED_LIBRARIES@ @PROJECT_NAME@@PROJECT_DLLVERSION@)
+-
+-SET(@PROJECT_NAME@_FOUND YES)
+-SET(@PROJECT_NAME@_FOUND "YES")
+-SET(@PROJECT_NAME@_VERSION        @PROJECT_VERSION@)
+-SET(@PROJECT_NAME@_VERSION_MAJOR  @PROJECT_VERSION_MAJOR@)
+-SET(@PROJECT_NAME@_VERSION_MINOR  @PROJECT_VERSION_MINOR@)
+-SET(@PROJECT_NAME@_VERSION_PATCH  @PROJECT_VERSION_PATCH@)
+diff --git a/utils/CMakeLists.txt b/examples/CMakeLists.txt
+similarity index 100%
+rename from utils/CMakeLists.txt
+rename to examples/CMakeLists.txt
+diff --git a/utils/create_voc_step0.cpp b/examples/create_voc_step0.cpp
+similarity index 97%
+rename from utils/create_voc_step0.cpp
+rename to examples/create_voc_step0.cpp
+index 4fd78f6..c48a3c4 100644
+--- a/utils/create_voc_step0.cpp
++++ b/examples/create_voc_step0.cpp
+@@ -1,126 +1,126 @@
+-
+-//First step of creating a vocabulary is extracting features from a set of images. We save them to a file for next step
+-#include <iostream>
+-#include <vector>
+-
+-// DBoW3
+-#include "DBoW3.h"
+-
+-// OpenCV
+-#include <opencv2/core/core.hpp>
+-#include <opencv2/highgui/highgui.hpp>
+-#include <opencv2/features2d/features2d.hpp>
+-#ifdef USE_CONTRIB
+-#include <opencv2/xfeatures2d/nonfree.hpp>
+-#include <opencv2/xfeatures2d.hpp>
+-#endif
+-#include "DescManip.h"
+-
+-using namespace DBoW3;
+-using namespace std;
+-
+-
+-//command line parser
+-class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){}  bool operator[] ( string param ) {int idx=-1;  for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i;    return ( idx!=-1 ) ;    } string operator()(string param,string defvalue="-1"){int idx=-1;    for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue;   else  return ( argv[  idx+1] ); }};
+-
+-
+-// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
+-
+-// extended surf gives 128-dimensional vectors
+-const bool EXTENDED_SURF = false;
+-// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
+-
+-void wait()
+-{
+-    cout << endl << "Press enter to continue" << endl;
+-    getchar();
+-}
+-
+-
+-vector<string> readImagePaths(int argc,char **argv,int start){
+-    vector<string> paths;
+-    for(int i=start;i<argc;i++)    paths.push_back(argv[i]);
+-        return paths;
+-}
+-
+-vector< cv::Mat  >  loadFeatures( std::vector<string> path_to_images,string descriptor="") throw (std::exception){
+-    //select detector
+-    cv::Ptr<cv::Feature2D> fdetector;
+-    if (descriptor=="orb")        fdetector=cv::ORB::create();
+-    else if (descriptor=="brisk") fdetector=cv::BRISK::create();
+-#ifdef OPENCV_VERSION_3
+-    else if (descriptor=="akaze") fdetector=cv::AKAZE::create();
+-#endif
+-#ifdef USE_CONTRIB
+-    else if(descriptor=="surf" )  fdetector=cv::xfeatures2d::SURF::create(400, 4, 2, EXTENDED_SURF);
+-#endif
+-
+-    else throw std::runtime_error("Invalid descriptor");
+-    assert(!descriptor.empty());
+-    vector<cv::Mat>    features;
+-
+-
+-    cout << "Extracting   features..." << endl;
+-    for(size_t i = 0; i < path_to_images.size(); ++i)
+-    {
+-        vector<cv::KeyPoint> keypoints;
+-        cv::Mat descriptors;
+-        cout<<"reading image: "<<path_to_images[i]<<endl;
+-        cv::Mat image = cv::imread(path_to_images[i], 0);
+-        if(image.empty())throw std::runtime_error("Could not open image"+path_to_images[i]);
+-        cout<<"extracting features"<<endl;
+-        fdetector->detectAndCompute(image, cv::Mat(), keypoints, descriptors);
+-        features.push_back(descriptors);
+-        cout<<"done detecting features"<<endl;
+-    }
+-    return features;
+-}
+-
+-// ----------------------------------------------------------------------------
+-void saveToFile(string filename,const vector<cv::Mat> &features){
+-
+-    //test it is not created
+-    std::ifstream ifile(filename);
+-    if (ifile.is_open()){cerr<<"ERROR::: Output File "<<filename<<" already exists!!!!!"<<endl;exit(0);}
+-    std::ofstream ofile(filename);
+-    if (!ofile.is_open()){cerr<<"could not open output file"<<endl;exit(0);}
+-    uint32_t size=features.size();
+-    ofile.write((char*)&size,sizeof(size));
+-    for(auto &f:features){
+-        if( !f.isContinuous()){
+-            cerr<<"Matrices should be continuous"<<endl;exit(0);
+-        }
+-        uint32_t aux=f.cols; ofile.write( (char*)&aux,sizeof(aux));
+-          aux=f.rows; ofile.write( (char*)&aux,sizeof(aux));
+-          aux=f.type(); ofile.write( (char*)&aux,sizeof(aux));
+-        ofile.write( (char*)f.ptr<uchar>(0),f.total()*f.elemSize());
+-    }
+-}
+-
+-// ----------------------------------------------------------------------------
+-
+-int main(int argc,char **argv)
+-{
+-
+-    try{
+-        CmdLineParser cml(argc,argv);
+-        if (cml["-h"] || argc==1){
+-            cerr<<"Usage:  descriptor_name output image0 image1 ... \n\t descriptors:brisk,surf,orb(default),akaze(only if using opencv 3)"<<endl;
+-            return -1;
+-        }
+-
+-        string descriptor=argv[1];
+-        string output=argv[2];
+-
+-        auto images=readImagePaths(argc,argv,3);
+-        vector< cv::Mat   >   features= loadFeatures(images,descriptor);
+-
+-      //save features to file
+-    saveToFile(argv[2],features);
+-
+-    }catch(std::exception &ex){
+-        cerr<<ex.what()<<endl;
+-    }
+-
+-    return 0;
+-}
++
++//First step of creating a vocabulary is extracting features from a set of images. We save them to a file for next step
++#include <iostream>
++#include <vector>
++
++// DBoW3
++#include "DBoW3.h"
++
++// OpenCV
++#include <opencv2/core/core.hpp>
++#include <opencv2/highgui/highgui.hpp>
++#include <opencv2/features2d/features2d.hpp>
++#ifdef USE_CONTRIB
++#include <opencv2/xfeatures2d/nonfree.hpp>
++#include <opencv2/xfeatures2d.hpp>
++#endif
++#include "DescManip.h"
++
++using namespace DBoW3;
++using namespace std;
++
++
++//command line parser
++class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){}  bool operator[] ( string param ) {int idx=-1;  for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i;    return ( idx!=-1 ) ;    } string operator()(string param,string defvalue="-1"){int idx=-1;    for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue;   else  return ( argv[  idx+1] ); }};
++
++
++// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
++
++// extended surf gives 128-dimensional vectors
++const bool EXTENDED_SURF = false;
++// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
++
++void wait()
++{
++    cout << endl << "Press enter to continue" << endl;
++    getchar();
++}
++
++
++vector<string> readImagePaths(int argc,char **argv,int start){
++    vector<string> paths;
++    for(int i=start;i<argc;i++)    paths.push_back(argv[i]);
++        return paths;
++}
++
++vector< cv::Mat  >  loadFeatures( std::vector<string> path_to_images,string descriptor="") throw (std::exception){
++    //select detector
++    cv::Ptr<cv::Feature2D> fdetector;
++    if (descriptor=="orb")        fdetector=cv::ORB::create();
++    else if (descriptor=="brisk") fdetector=cv::BRISK::create();
++#ifdef OPENCV_VERSION_3
++    else if (descriptor=="akaze") fdetector=cv::AKAZE::create();
++#endif
++#ifdef USE_CONTRIB
++    else if(descriptor=="surf" )  fdetector=cv::xfeatures2d::SURF::create(400, 4, 2, EXTENDED_SURF);
++#endif
++
++    else throw std::runtime_error("Invalid descriptor");
++    assert(!descriptor.empty());
++    vector<cv::Mat>    features;
++
++
++    cout << "Extracting   features..." << endl;
++    for(size_t i = 0; i < path_to_images.size(); ++i)
++    {
++        vector<cv::KeyPoint> keypoints;
++        cv::Mat descriptors;
++        cout<<"reading image: "<<path_to_images[i]<<endl;
++        cv::Mat image = cv::imread(path_to_images[i], 0);
++        if(image.empty())throw std::runtime_error("Could not open image"+path_to_images[i]);
++        cout<<"extracting features"<<endl;
++        fdetector->detectAndCompute(image, cv::Mat(), keypoints, descriptors);
++        features.push_back(descriptors);
++        cout<<"done detecting features"<<endl;
++    }
++    return features;
++}
++
++// ----------------------------------------------------------------------------
++void saveToFile(string filename,const vector<cv::Mat> &features){
++
++    //test it is not created
++    std::ifstream ifile(filename);
++    if (ifile.is_open()){cerr<<"ERROR::: Output File "<<filename<<" already exists!!!!!"<<endl;exit(0);}
++    std::ofstream ofile(filename);
++    if (!ofile.is_open()){cerr<<"could not open output file"<<endl;exit(0);}
++    uint32_t size=features.size();
++    ofile.write((char*)&size,sizeof(size));
++    for(auto &f:features){
++        if( !f.isContinuous()){
++            cerr<<"Matrices should be continuous"<<endl;exit(0);
++        }
++        uint32_t aux=f.cols; ofile.write( (char*)&aux,sizeof(aux));
++          aux=f.rows; ofile.write( (char*)&aux,sizeof(aux));
++          aux=f.type(); ofile.write( (char*)&aux,sizeof(aux));
++        ofile.write( (char*)f.ptr<uchar>(0),f.total()*f.elemSize());
++    }
++}
++
++// ----------------------------------------------------------------------------
++
++int main(int argc,char **argv)
++{
++
++    try{
++        CmdLineParser cml(argc,argv);
++        if (cml["-h"] || argc==1){
++            cerr<<"Usage:  descriptor_name output image0 image1 ... \n\t descriptors:brisk,surf,orb(default),akaze(only if using opencv 3)"<<endl;
++            return -1;
++        }
++
++        string descriptor=argv[1];
++        string output=argv[2];
++
++        auto images=readImagePaths(argc,argv,3);
++        vector< cv::Mat   >   features= loadFeatures(images,descriptor);
++
++      //save features to file
++    saveToFile(argv[2],features);
++
++    }catch(std::exception &ex){
++        cerr<<ex.what()<<endl;
++    }
++
++    return 0;
++}
+diff --git a/utils/create_voc_step1.cpp b/examples/create_voc_step1.cpp
+similarity index 97%
+rename from utils/create_voc_step1.cpp
+rename to examples/create_voc_step1.cpp
+index 8d9de7d..1f82c66 100644
+--- a/utils/create_voc_step1.cpp
++++ b/examples/create_voc_step1.cpp
+@@ -1,71 +1,71 @@
+-//Second step,creates the vocabulary from the set of features. It can be slow
+-#include <iostream>
+-#include <vector>
+-
+-// DBoW3
+-#include "DBoW3.h"
+-
+-// OpenCV
+-#include <opencv2/core/core.hpp>
+-using namespace DBoW3;
+-using namespace std;
+-
+-//command line parser
+-class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){}  bool operator[] ( string param ) {int idx=-1;  for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i;    return ( idx!=-1 ) ;    } string operator()(string param,string defvalue="-1"){int idx=-1;    for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue;   else  return ( argv[  idx+1] ); }};
+-
+-// ----------------------------------------------------------------------------
+-
+-// ----------------------------------------------------------------------------
+-vector<cv::Mat> readFeaturesFromFile(string filename){
+-vector<cv::Mat> features;
+-    //test it is not created
+-    std::ifstream ifile(filename);
+-    if (!ifile.is_open()){cerr<<"could not open input file"<<endl;exit(0);}
+-    uint32_t size;
+-    ifile.read((char*)&size,sizeof(size));
+-    features.resize(size);
+-    for(size_t i=0;i<size;i++){
+-
+-        uint32_t cols,rows,type;
+-        ifile.read( (char*)&cols,sizeof(cols));
+-        ifile.read( (char*)&rows,sizeof(rows));
+-        ifile.read( (char*)&type,sizeof(type));
+-        features[i].create(rows,cols,type);
+-        ifile.read( (char*)features[i].ptr<uchar>(0),features[i].total()*features[i].elemSize());
+-    }
+-    return features;
+-}
+-
+-// ----------------------------------------------------------------------------
+-
+-int main(int argc,char **argv)
+-{
+-
+-    try{
+-        CmdLineParser cml(argc,argv);
+-        if (cml["-h"] || argc!=3){
+-            cerr<<"Usage:  features output_voc.yml[.gz]"<<endl;
+-            return -1;
+-        }
+-
+-
+-        auto features=readFeaturesFromFile(argv[1]);
+-
+-        const int k = 9;
+-        const int L = 3;
+-        const WeightingType weight = TF_IDF;
+-        const ScoringType score = L1_NORM;
+-        DBoW3::Vocabulary voc (k, L, weight, score);
+-
+-        cout << "Creating a small " << k << "^" << L << " vocabulary..." << endl;
+-        voc.create(features);
+-        cerr<<"Saving "<<argv[2]<<endl;
+-        voc.save(argv[2]);
+-
+-
+-    }catch(std::exception &ex){
+-        cerr<<ex.what()<<endl;
+-    }
+-
+-    return 0;
+-}
++//Second step,creates the vocabulary from the set of features. It can be slow
++#include <iostream>
++#include <vector>
++
++// DBoW3
++#include "DBoW3.h"
++
++// OpenCV
++#include <opencv2/core/core.hpp>
++using namespace DBoW3;
++using namespace std;
++
++//command line parser
++class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){}  bool operator[] ( string param ) {int idx=-1;  for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i;    return ( idx!=-1 ) ;    } string operator()(string param,string defvalue="-1"){int idx=-1;    for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue;   else  return ( argv[  idx+1] ); }};
++
++// ----------------------------------------------------------------------------
++
++// ----------------------------------------------------------------------------
++vector<cv::Mat> readFeaturesFromFile(string filename){
++vector<cv::Mat> features;
++    //test it is not created
++    std::ifstream ifile(filename);
++    if (!ifile.is_open()){cerr<<"could not open input file"<<endl;exit(0);}
++    uint32_t size;
++    ifile.read((char*)&size,sizeof(size));
++    features.resize(size);
++    for(size_t i=0;i<size;i++){
++
++        uint32_t cols,rows,type;
++        ifile.read( (char*)&cols,sizeof(cols));
++        ifile.read( (char*)&rows,sizeof(rows));
++        ifile.read( (char*)&type,sizeof(type));
++        features[i].create(rows,cols,type);
++        ifile.read( (char*)features[i].ptr<uchar>(0),features[i].total()*features[i].elemSize());
++    }
++    return features;
++}
++
++// ----------------------------------------------------------------------------
++
++int main(int argc,char **argv)
++{
++
++    try{
++        CmdLineParser cml(argc,argv);
++        if (cml["-h"] || argc!=3){
++            cerr<<"Usage:  features output_voc.yml[.gz]"<<endl;
++            return -1;
++        }
++
++
++        auto features=readFeaturesFromFile(argv[1]);
++
++        const int k = 9;
++        const int L = 3;
++        const WeightingType weight = TF_IDF;
++        const ScoringType score = L1_NORM;
++        DBoW3::Vocabulary voc (k, L, weight, score);
++
++        cout << "Creating a small " << k << "^" << L << " vocabulary..." << endl;
++        voc.create(features);
++        cerr<<"Saving "<<argv[2]<<endl;
++        voc.save(argv[2]);
++
++
++    }catch(std::exception &ex){
++        cerr<<ex.what()<<endl;
++    }
++
++    return 0;
++}
+diff --git a/utils/demo_general.cpp b/examples/demo_general.cpp
+similarity index 96%
+rename from utils/demo_general.cpp
+rename to examples/demo_general.cpp
+index 63db40b..b4bc391 100644
+--- a/utils/demo_general.cpp
++++ b/examples/demo_general.cpp
+@@ -1,202 +1,202 @@
+-/**
+- * Date:  2016
+- * Author: Rafael Muñoz Salinas
+- * Description: demo application of DBoW3
+- * License: see the LICENSE.txt file
+- */
+-
+-#include <iostream>
+-#include <vector>
+-
+-// DBoW3
+-#include "DBoW3.h"
+-
+-// OpenCV
+-#include <opencv2/core/core.hpp>
+-#include <opencv2/highgui/highgui.hpp>
+-#include <opencv2/features2d/features2d.hpp>
+-#ifdef USE_CONTRIB
+-#include <opencv2/xfeatures2d/nonfree.hpp>
+-#include <opencv2/xfeatures2d.hpp>
+-#endif
+-#include "DescManip.h"
+-
+-using namespace DBoW3;
+-using namespace std;
+-
+-
+-//command line parser
+-class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){}  bool operator[] ( string param ) {int idx=-1;  for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i;    return ( idx!=-1 ) ;    } string operator()(string param,string defvalue="-1"){int idx=-1;    for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue;   else  return ( argv[  idx+1] ); }};
+-
+-
+-// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
+-
+-// extended surf gives 128-dimensional vectors
+-const bool EXTENDED_SURF = false;
+-// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
+-
+-void wait()
+-{
+-    cout << endl << "Press enter to continue" << endl;
+-    getchar();
+-}
+-
+-
+-vector<string> readImagePaths(int argc,char **argv,int start){
+-    vector<string> paths;
+-    for(int i=start;i<argc;i++)    paths.push_back(argv[i]);
+-        return paths;
+-}
+-
+-vector< cv::Mat  >  loadFeatures( std::vector<string> path_to_images,string descriptor="") throw (std::exception){
+-    //select detector
+-    cv::Ptr<cv::Feature2D> fdetector;
+-    if (descriptor=="orb")        fdetector=cv::ORB::create();
+-    else if (descriptor=="brisk") fdetector=cv::BRISK::create();
+-#ifdef OPENCV_VERSION_3
+-    else if (descriptor=="akaze") fdetector=cv::AKAZE::create();
+-#endif
+-#ifdef USE_CONTRIB
+-    else if(descriptor=="surf" )  fdetector=cv::xfeatures2d::SURF::create(400, 4, 2, EXTENDED_SURF);
+-#endif
+-
+-    else throw std::runtime_error("Invalid descriptor");
+-    assert(!descriptor.empty());
+-    vector<cv::Mat>    features;
+-
+-
+-    cout << "Extracting   features..." << endl;
+-    for(size_t i = 0; i < path_to_images.size(); ++i)
+-    {
+-        vector<cv::KeyPoint> keypoints;
+-        cv::Mat descriptors;
+-        cout<<"reading image: "<<path_to_images[i]<<endl;
+-        cv::Mat image = cv::imread(path_to_images[i], 0);
+-        if(image.empty())throw std::runtime_error("Could not open image"+path_to_images[i]);
+-        cout<<"extracting features"<<endl;
+-        fdetector->detectAndCompute(image, cv::Mat(), keypoints, descriptors);
+-        features.push_back(descriptors);
+-        cout<<"done detecting features"<<endl;
+-    }
+-    return features;
+-}
+-
+-// ----------------------------------------------------------------------------
+-
+-void testVocCreation(const vector<cv::Mat> &features)
+-{
+-    // branching factor and depth levels
+-    const int k = 9;
+-    const int L = 3;
+-    const WeightingType weight = TF_IDF;
+-    const ScoringType score = L1_NORM;
+-
+-    DBoW3::Vocabulary voc(k, L, weight, score);
+-
+-    cout << "Creating a small " << k << "^" << L << " vocabulary..." << endl;
+-    voc.create(features);
+-    cout << "... done!" << endl;
+-
+-    cout << "Vocabulary information: " << endl
+-         << voc << endl << endl;
+-
+-    // lets do something with this vocabulary
+-    cout << "Matching images against themselves (0 low, 1 high): " << endl;
+-    BowVector v1, v2;
+-    for(size_t i = 0; i < features.size(); i++)
+-    {
+-        voc.transform(features[i], v1);
+-        for(size_t j = 0; j < features.size(); j++)
+-        {
+-            voc.transform(features[j], v2);
+-
+-            double score = voc.score(v1, v2);
+-            cout << "Image " << i << " vs Image " << j << ": " << score << endl;
+-        }
+-    }
+-
+-    // save the vocabulary to disk
+-    cout << endl << "Saving vocabulary..." << endl;
+-    voc.save("small_voc.yml.gz");
+-    cout << "Done" << endl;
+-}
+-
+-////// ----------------------------------------------------------------------------
+-
+-void testDatabase(const  vector<cv::Mat > &features)
+-{
+-    cout << "Creating a small database..." << endl;
+-
+-    // load the vocabulary from disk
+-    Vocabulary voc("small_voc.yml.gz");
+-
+-    Database db(voc, false, 0); // false = do not use direct index
+-    // (so ignore the last param)
+-    // The direct index is useful if we want to retrieve the features that
+-    // belong to some vocabulary node.
+-    // db creates a copy of the vocabulary, we may get rid of "voc" now
+-
+-    // add images to the database
+-    for(size_t i = 0; i < features.size(); i++)
+-        db.add(features[i]);
+-
+-    cout << "... done!" << endl;
+-
+-    cout << "Database information: " << endl << db << endl;
+-
+-    // and query the database
+-    cout << "Querying the database: " << endl;
+-
+-    QueryResults ret;
+-    for(size_t i = 0; i < features.size(); i++)
+-    {
+-        db.query(features[i], ret, 4);
+-
+-        // ret[0] is always the same image in this case, because we added it to the
+-        // database. ret[1] is the second best match.
+-
+-        cout << "Searching for Image " << i << ". " << ret << endl;
+-    }
+-
+-    cout << endl;
+-
+-    // we can save the database. The created file includes the vocabulary
+-    // and the entries added
+-    cout << "Saving database..." << endl;
+-    db.save("small_db.yml.gz");
+-    cout << "... done!" << endl;
+-
+-    // once saved, we can load it again
+-    cout << "Retrieving database once again..." << endl;
+-    Database db2("small_db.yml.gz");
+-    cout << "... done! This is: " << endl << db2 << endl;
+-}
+-
+-
+-// ----------------------------------------------------------------------------
+-
+-int main(int argc,char **argv)
+-{
+-
+-    try{
+-        CmdLineParser cml(argc,argv);
+-        if (cml["-h"] || argc<=2){
+-            cerr<<"Usage:  descriptor_name     image0 image1 ... \n\t descriptors:brisk,surf,orb ,akaze(only if using opencv 3)"<<endl;
+-             return -1;
+-        }
+-
+-        string descriptor=argv[1];
+-
+-        auto images=readImagePaths(argc,argv,2);
+-        vector< cv::Mat   >   features= loadFeatures(images,descriptor);
+-        testVocCreation(features);
+-
+-
+-        testDatabase(features);
+-
+-    }catch(std::exception &ex){
+-        cerr<<ex.what()<<endl;
+-    }
+-
+-    return 0;
+-}
++/**
++ * Date:  2016
++ * Author: Rafael Muñoz Salinas
++ * Description: demo application of DBoW3
++ * License: see the LICENSE.txt file
++ */
++
++#include <iostream>
++#include <vector>
++
++// DBoW3
++#include "DBoW3.h"
++
++// OpenCV
++#include <opencv2/core/core.hpp>
++#include <opencv2/highgui/highgui.hpp>
++#include <opencv2/features2d/features2d.hpp>
++#ifdef USE_CONTRIB
++#include <opencv2/xfeatures2d/nonfree.hpp>
++#include <opencv2/xfeatures2d.hpp>
++#endif
++#include "DescManip.h"
++
++using namespace DBoW3;
++using namespace std;
++
++
++//command line parser
++class CmdLineParser{int argc; char **argv; public: CmdLineParser(int _argc,char **_argv):argc(_argc),argv(_argv){}  bool operator[] ( string param ) {int idx=-1;  for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i;    return ( idx!=-1 ) ;    } string operator()(string param,string defvalue="-1"){int idx=-1;    for ( int i=0; i<argc && idx==-1; i++ ) if ( string ( argv[i] ) ==param ) idx=i; if ( idx==-1 ) return defvalue;   else  return ( argv[  idx+1] ); }};
++
++
++// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
++
++// extended surf gives 128-dimensional vectors
++const bool EXTENDED_SURF = false;
++// - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
++
++void wait()
++{
++    cout << endl << "Press enter to continue" << endl;
++    getchar();
++}
++
++
++vector<string> readImagePaths(int argc,char **argv,int start){
++    vector<string> paths;
++    for(int i=start;i<argc;i++)    paths.push_back(argv[i]);
++        return paths;
++}
++
++vector< cv::Mat  >  loadFeatures( std::vector<string> path_to_images,string descriptor="") throw (std::exception){
++    //select detector
++    cv::Ptr<cv::Feature2D> fdetector;
++    if (descriptor=="orb")        fdetector=cv::ORB::create();
++    else if (descriptor=="brisk") fdetector=cv::BRISK::create();
++#ifdef OPENCV_VERSION_3
++    else if (descriptor=="akaze") fdetector=cv::AKAZE::create();
++#endif
++#ifdef USE_CONTRIB
++    else if(descriptor=="surf" )  fdetector=cv::xfeatures2d::SURF::create(400, 4, 2, EXTENDED_SURF);
++#endif
++
++    else throw std::runtime_error("Invalid descriptor");
++    assert(!descriptor.empty());
++    vector<cv::Mat>    features;
++
++
++    cout << "Extracting   features..." << endl;
++    for(size_t i = 0; i < path_to_images.size(); ++i)
++    {
++        vector<cv::KeyPoint> keypoints;
++        cv::Mat descriptors;
++        cout<<"reading image: "<<path_to_images[i]<<endl;
++        cv::Mat image = cv::imread(path_to_images[i], 0);
++        if(image.empty())throw std::runtime_error("Could not open image"+path_to_images[i]);
++        cout<<"extracting features"<<endl;
++        fdetector->detectAndCompute(image, cv::Mat(), keypoints, descriptors);
++        features.push_back(descriptors);
++        cout<<"done detecting features"<<endl;
++    }
++    return features;
++}
++
++// ----------------------------------------------------------------------------
++
++void testVocCreation(const vector<cv::Mat> &features)
++{
++    // branching factor and depth levels
++    const int k = 9;
++    const int L = 3;
++    const WeightingType weight = TF_IDF;
++    const ScoringType score = L1_NORM;
++
++    DBoW3::Vocabulary voc(k, L, weight, score);
++
++    cout << "Creating a small " << k << "^" << L << " vocabulary..." << endl;
++    voc.create(features);
++    cout << "... done!" << endl;
++
++    cout << "Vocabulary information: " << endl
++         << voc << endl << endl;
++
++    // lets do something with this vocabulary
++    cout << "Matching images against themselves (0 low, 1 high): " << endl;
++    BowVector v1, v2;
++    for(size_t i = 0; i < features.size(); i++)
++    {
++        voc.transform(features[i], v1);
++        for(size_t j = 0; j < features.size(); j++)
++        {
++            voc.transform(features[j], v2);
++
++            double score = voc.score(v1, v2);
++            cout << "Image " << i << " vs Image " << j << ": " << score << endl;
++        }
++    }
++
++    // save the vocabulary to disk
++    cout << endl << "Saving vocabulary..." << endl;
++    voc.save("small_voc.yml.gz");
++    cout << "Done" << endl;
++}
++
++////// ----------------------------------------------------------------------------
++
++void testDatabase(const  vector<cv::Mat > &features)
++{
++    cout << "Creating a small database..." << endl;
++
++    // load the vocabulary from disk
++    Vocabulary voc("small_voc.yml.gz");
++
++    Database db(voc, false, 0); // false = do not use direct index
++    // (so ignore the last param)
++    // The direct index is useful if we want to retrieve the features that
++    // belong to some vocabulary node.
++    // db creates a copy of the vocabulary, we may get rid of "voc" now
++
++    // add images to the database
++    for(size_t i = 0; i < features.size(); i++)
++        db.add(features[i]);
++
++    cout << "... done!" << endl;
++
++    cout << "Database information: " << endl << db << endl;
++
++    // and query the database
++    cout << "Querying the database: " << endl;
++
++    QueryResults ret;
++    for(size_t i = 0; i < features.size(); i++)
++    {
++        db.query(features[i], ret, 4);
++
++        // ret[0] is always the same image in this case, because we added it to the
++        // database. ret[1] is the second best match.
++
++        cout << "Searching for Image " << i << ". " << ret << endl;
++    }
++
++    cout << endl;
++
++    // we can save the database. The created file includes the vocabulary
++    // and the entries added
++    cout << "Saving database..." << endl;
++    db.save("small_db.yml.gz");
++    cout << "... done!" << endl;
++
++    // once saved, we can load it again
++    cout << "Retrieving database once again..." << endl;
++    Database db2("small_db.yml.gz");
++    cout << "... done! This is: " << endl << db2 << endl;
++}
++
++
++// ----------------------------------------------------------------------------
++
++int main(int argc,char **argv)
++{
++
++    try{
++        CmdLineParser cml(argc,argv);
++        if (cml["-h"] || argc<=2){
++            cerr<<"Usage:  descriptor_name     image0 image1 ... \n\t descriptors:brisk,surf,orb ,akaze(only if using opencv 3)"<<endl;
++             return -1;
++        }
++
++        string descriptor=argv[1];
++
++        auto images=readImagePaths(argc,argv,2);
++        vector< cv::Mat   >   features= loadFeatures(images,descriptor);
++        testVocCreation(features);
++
++
++        testDatabase(features);
++
++    }catch(std::exception &ex){
++        cerr<<ex.what()<<endl;
++    }
++
++    return 0;
++}
+diff --git a/utils/images/image0.png b/examples/images/image0.png
+similarity index 100%
+rename from utils/images/image0.png
+rename to examples/images/image0.png
+diff --git a/utils/images/image1.png b/examples/images/image1.png
+similarity index 100%
+rename from utils/images/image1.png
+rename to examples/images/image1.png
+diff --git a/utils/images/image2.png b/examples/images/image2.png
+similarity index 100%
+rename from utils/images/image2.png
+rename to examples/images/image2.png
+diff --git a/utils/images/image3.png b/examples/images/image3.png
+similarity index 100%
+rename from utils/images/image3.png
+rename to examples/images/image3.png
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+deleted file mode 100644
+index a9c52b4..0000000
+--- a/src/CMakeLists.txt
++++ /dev/null
+@@ -1,35 +0,0 @@
+-INCLUDE_DIRECTORIES(. ./utils/)
+-
+-FILE(GLOB hdrs_base "*.h" )
+-FILE(GLOB srcs_base "*.c*")
+-
+-FILE(GLOB hdrs ${hdrs_base}  )
+-FILE(GLOB srcs  ${srcs_base} )
+-
+-
+-ADD_LIBRARY(${PROJECT_NAME} ${srcs} ${hdrs})
+-INCLUDE_DIRECTORIES(${CMAKE_CURRENT_BINARY_DIR} ) 
+-
+-SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES 				# create *nix style library versions + symbolic links
+-        DEFINE_SYMBOL DBOW_DSO_EXPORTS
+-	VERSION ${PROJECT_VERSION}
+-	SOVERSION ${PROJECT_SOVERSION}
+-	CLEAN_DIRECT_OUTPUT 1 					# allow creating static and shared libs without conflicts
+-	OUTPUT_NAME "${PROJECT_NAME}${PROJECT_DLLVERSION}" 	# avoid conflicts between library and binary target names
+-)
+-
+-TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${REQUIRED_LIBRARIES} )
+-
+-INSTALL(TARGETS ${PROJECT_NAME}
+-	RUNTIME DESTINATION bin COMPONENT main			# Install the dll file in bin directory
+-	LIBRARY DESTINATION ${LIB_INSTALL_DIR} PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE COMPONENT main
+-        ARCHIVE DESTINATION ${LIB_INSTALL_DIR} COMPONENT main)			# Install the dll.a file in lib directory
+-
+-
+-
+-INSTALL(FILES ${hdrs_base}
+-        DESTINATION include/${PROJECT_NAME}
+-        COMPONENT main)
+-
+-
+-
+diff --git a/orbvoc.dbow3 b/voc/orbvoc.dbow3
+similarity index 100%
+rename from orbvoc.dbow3
+rename to voc/orbvoc.dbow3
+
+From 9f9a9125423edd0b2cc7c84897d4387c5dcea44b Mon Sep 17 00:00:00 2001
+From: Ramadan <[email protected]>
+Date: Thu, 15 Aug 2019 14:00:28 +0200
+Subject: [PATCH 2/2] Fix DBow3Config.cmake
+
+---
+ Lib/DBow3Config.cmake | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/Lib/DBow3Config.cmake b/Lib/DBow3Config.cmake
+index 9720a14..da63d5e 100644
+--- a/Lib/DBow3Config.cmake
++++ b/Lib/DBow3Config.cmake
+@@ -1,4 +1,4 @@
+ include(CMakeFindDependencyMacro)
+ find_dependency(OpenCV)
+ find_dependency(OpenMP)
+-include("${CMAKE_CURRENT_LIST_DIR}/FbowTargets.cmake")
+
++include("${CMAKE_CURRENT_LIST_DIR}/DBow3Targets.cmake")
+

third-party/DPVO/Pangolin/scripts/vcpkg/ports/dbow3/portfile.cmake

@@ -0,0 +1,32 @@
+#the port produces some empty dlls when building shared libraries, since some components do not export anything, breaking the internal build itself
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO rmsalinas/DBow3
+    REF master
+    SHA512 16e6789b77e8b42428d156ae5efa667861fa8ef2e85b54e3dd1d28e6f8dc7d119e973234c77cac82e775080fb9c859640d04159659a7d63941325e13e40b2814
+    PATCHES
+      fix_cmake.patch
+)
+
+
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS
+        -DUSE_SIMD=ON
+        -DUSE_OPENCV_CONTRIB=ON
+        -DBUILD_EXAMPLES=OFF
+        -DBUILD_TESTS=OFF
+)
+
+vcpkg_install_cmake()
+
+vcpkg_fixup_cmake_targets(CONFIG_PATH cmake/DBow3)
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+
+file(INSTALL
+    ${SOURCE_PATH}/LICENSE.txt
+    DESTINATION ${CURRENT_PACKAGES_DIR}/share/DBow3 RENAME copyright)
+vcpkg_copy_pdbs()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/dbow3/vcpkg.json

@@ -0,0 +1,14 @@
+{
+  "name": "dbow3",
+  "version-string": "1.0.0",
+  "port-version": 1,
+  "description": "DBoW3 is an improved version of the DBow2 library, an open source C++ library for indexing and converting images into a bag-of-word representation.",
+  "dependencies": [
+    {
+      "name": "opencv3",
+      "features": [
+        "contrib"
+      ]
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/dcmtk/dcmtk.patch

@@ -0,0 +1,16 @@
+diff --git a/CMake/dcmtkPrepare.cmake b/CMake/dcmtkPrepare.cmake
+index 23a9278..15e9391 100644
+--- a/CMake/dcmtkPrepare.cmake
++++ b/CMake/dcmtkPrepare.cmake
+@@ -210,9 +210,9 @@ include(GNUInstallDirs)
+ # CMake's files (DCMTKTarget.cmake, DCMTKConfigVersion.cmake and DCMTKConfig.cmake) are installed
+ # to different installation paths under Unix- and Windows-based systems
+ if(UNIX)
+-  set(DCMTK_INSTALL_CMKDIR "${CMAKE_INSTALL_LIBDIR}/cmake/dcmtk")
++  set(DCMTK_INSTALL_CMKDIR "share/dcmtk")
+ elseif(WIN32)
+-  set(DCMTK_INSTALL_CMKDIR "cmake")
++  set(DCMTK_INSTALL_CMKDIR "share/dcmtk")
+ endif()
+ 
+ #-----------------------------------------------------------------------------

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

@@ -0,0 +1,50 @@
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO DCMTK/dcmtk
+    REF 6cb30bd7fb42190e0188afbd8cb961c62a6fb9c9 # DCMTK-3.6.6
+    SHA512 3fbd524bc0b9dced2cdddca850c88d8785ca5f333c5f1598ffbffb8e5c33d11eebdce9ed935245048ac45a7ccd7bd9e4ca79eaacf752cba64a5534b76e5efcdb
+    HEAD_REF master
+    PATCHES ${CMAKE_CURRENT_LIST_DIR}/dcmtk.patch
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DDCMTK_WITH_DOXYGEN=OFF
+        -DDCMTK_WITH_ZLIB=OFF
+        -DDCMTK_WITH_OPENSSL=OFF
+        -DDCMTK_WITH_PNG=OFF
+        -DDCMTK_WITH_TIFF=OFF
+        -DDCMTK_WITH_XML=OFF
+        -DDCMTK_WITH_ICONV=OFF
+        -DDCMTK_FORCE_FPIC_ON_UNIX=ON
+        -DDCMTK_OVERWRITE_WIN32_COMPILER_FLAGS=OFF
+        -DDCMTK_ENABLE_BUILTIN_DICTIONARY=ON
+        -DDCMTK_ENABLE_PRIVATE_TAGS=ON
+        -DBUILD_APPS=OFF
+        -DDCMTK_ENABLE_CXX11=ON
+        -DDCMTK_WIDE_CHAR_FILE_IO_FUNCTIONS=ON
+        -DDCMTK_WIDE_CHAR_MAIN_FUNCTION=ON
+        -DCMAKE_DEBUG_POSTFIX=d
+    OPTIONS_DEBUG
+        -DINSTALL_HEADERS=OFF
+        -DINSTALL_OTHER=OFF
+)
+
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+
+vcpkg_cmake_config_fixup()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/dcmtk/config/osconfig.h" "#define DCMTK_PREFIX \"${CURRENT_PACKAGES_DIR}\"" "")
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/dcmtk/config/osconfig.h" "#define DCM_DICT_DEFAULT_PATH \"${CURRENT_PACKAGES_DIR}/share/dcmtk/dicom.dic:${CURRENT_PACKAGES_DIR}/share/dcmtk/private.dic\"" "")
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/dcmtk/config/osconfig.h" "#define DEFAULT_CONFIGURATION_DIR \"${CURRENT_PACKAGES_DIR}/etc/dcmtk/\"" "")
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/dcmtk/config/osconfig.h" "#define DEFAULT_SUPPORT_DATA_DIR \"${CURRENT_PACKAGES_DIR}/share/dcmtk/\"" "")
+
+# Handle copyright
+file(INSTALL "${SOURCE_PATH}/COPYRIGHT" DESTINATION "${CURRENT_PACKAGES_DIR}/share/dcmtk" RENAME copyright)

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

@@ -0,0 +1,18 @@
+The package dcmtk provides CMake targets:
+
+    find_package(DCMTK CONFIG REQUIRED)
+    # Note: 23 target(s) were omitted.
+    target_link_libraries(main PRIVATE cmr i2d ijg8 dcmfg)
+
+Add the following cmake code to your CMakeLists.txt to create definitions for DCMTK
+    if ("${VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}" STREQUAL "/")
+        message(WARNING "No vcpkg install dir found, DCMTK definitions are not set")
+    else()
+        target_compile_definitions(main
+            PUBLIC
+                "DCMTK_PREFIX=${VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}"
+                "DCM_DICT_DEFAULT_PATH=${VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}/share/dcmtk/dicom.dic:${VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}/share/dcmtk/private.dic"
+                "DEFAULT_CONFIGURATION_DIR=${VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}/etc/dcmtk/"
+                "DEFAULT_SUPPORT_DATA_DIR=${VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}/share/dcmtk/"
+        )
+    endif()

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

@@ -0,0 +1,17 @@
+{
+  "name": "dcmtk",
+  "version": "3.6.6",
+  "port-version": 3,
+  "description": "This DICOM ToolKit (DCMTK) package consists of source code, documentation and installation instructions for a set of software libraries and applications implementing part of the DICOM/MEDICOM Standard.",
+  "supports": "!arm",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

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

@@ -0,0 +1,24 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO foonathan/debug_assert
+    REF 0144b6532ec80349780ffac3cf85a92d87eb7b1b
+    SHA512 16cf38406d5f71585b763ff8af59b09c7b8b05372b07714cdc82f6f27292597c0b6d9025f823515744f8235b326b95e1d630af34db4a0e15d4ded79364290630
+    HEAD_REF v1.3.3
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS
+      -DDEBUG_ASSERT_INSTALL=ON
+)
+
+vcpkg_install_cmake()
+
+vcpkg_fixup_cmake_targets(CONFIG_PATH lib/cmake/debug_assert TARGET_PATH share/debug_assert)
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug ${CURRENT_PACKAGES_DIR}/lib)
+
+vcpkg_copy_pdbs()
+
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/debug-assert/vcpkg.json

@@ -0,0 +1,6 @@
+{
+  "name": "debug-assert",
+  "version-string": "1.3.3",
+  "description": "Provides flexible DEBUG_ASSERT() macro.",
+  "homepage": "https://github.com/foonathan/debug_assert"
+}

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

@@ -0,0 +1,11 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO vpiotr/decimal_for_cpp
+    REF 98265a57385ec14ae84fc0b2b0f15c770b30f548
+    SHA512 b8779ffb81567309ab07fa17eb6d3eb8bb94f77f5a388fd395433a304923ccf75e753a5822f36e5ad9d8959ee1a92b660639367d3a443f353e3e22d36a056f4d
+    HEAD_REF master
+)
+
+file(COPY ${SOURCE_PATH}/include/decimal.h DESTINATION ${CURRENT_PACKAGES_DIR}/include/decimal-for-cpp)
+file(COPY ${SOURCE_PATH}/doc/license.txt DESTINATION ${CURRENT_PACKAGES_DIR}/share/decimal-for-cpp)
+file(RENAME ${CURRENT_PACKAGES_DIR}/share/decimal-for-cpp/license.txt ${CURRENT_PACKAGES_DIR}/share/decimal-for-cpp/copyright)

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

@@ -0,0 +1,5 @@
+{
+  "name": "decimal-for-cpp",
+  "version-string": "1.18",
+  "description": "Decimal data type support, for COBOL-like fixed-point operations on currency values."
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/detours/find-jmp-bounds-arm64.patch

@@ -0,0 +1,24 @@
+diff --git a/src/detours.cpp b/src/detours.cpp
+index 8345c4d..3cd0e9d 100644
+--- a/src/detours.cpp
++++ b/src/detours.cpp
+@@ -974,6 +974,19 @@ inline PBYTE detour_skip_jmp(PBYTE pbCode, PVOID *ppGlobals)
+     return pbCode;
+ }
+ 
++inline void detour_find_jmp_bounds(PBYTE pbCode,
++                                   PDETOUR_TRAMPOLINE *ppLower,
++                                   PDETOUR_TRAMPOLINE *ppUpper)
++{
++    // We have to place trampolines within +/- 2GB of code.
++    ULONG_PTR lo = detour_2gb_below((ULONG_PTR)pbCode);
++    ULONG_PTR hi = detour_2gb_above((ULONG_PTR)pbCode);
++    DETOUR_TRACE(("[%p..%p..%p]\n", lo, pbCode, hi));
++
++    *ppLower = (PDETOUR_TRAMPOLINE)lo;
++    *ppUpper = (PDETOUR_TRAMPOLINE)hi;
++}
++
+ inline BOOL detour_does_code_end_function(PBYTE pbCode)
+ {
+     ULONG Opcode = fetch_opcode(pbCode);

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

@@ -0,0 +1,35 @@
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO microsoft/Detours
+    REF v4.0.1
+    SHA512 0a9c21b8222329add2de190d2e94d99195dfa55de5a914b75d380ffe0fb787b12e016d0723ca821001af0168fd1643ffd2455298bf3de5fdc155b3393a3ccc87
+    HEAD_REF master
+    PATCHES 
+        find-jmp-bounds-arm64.patch
+)
+
+vcpkg_build_nmake(
+    SOURCE_PATH "${SOURCE_PATH}"
+    PROJECT_SUBPATH "src"
+    PROJECT_NAME "Makefile"
+    OPTIONS "PROCESSOR_ARCHITECTURE=${VCPKG_TARGET_ARCHITECTURE}"
+    OPTIONS_RELEASE "DETOURS_CONFIG=Release"
+    OPTIONS_DEBUG "DETOURS_CONFIG=Debug"
+)
+
+if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+    file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel/lib.${VCPKG_TARGET_ARCHITECTURE}Release/" DESTINATION "${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.${VCPKG_TARGET_ARCHITECTURE}Debug/" DESTINATION "${CURRENT_PACKAGES_DIR}/debug/lib")
+endif()
+
+if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+    file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel/include/" DESTINATION "${CURRENT_PACKAGES_DIR}/include" RENAME detours)
+else()
+    file(INSTALL "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg/include/" DESTINATION "${CURRENT_PACKAGES_DIR}/include" RENAME detours)
+endif()
+
+file(INSTALL "${SOURCE_PATH}/LICENSE.md" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,8 @@
+{
+  "name": "detours",
+  "version": "4.0.1",
+  "port-version": 5,
+  "description": "Detours is a software package for monitoring and instrumenting API calls on Windows.",
+  "homepage": "https://github.com/microsoft/Detours",
+  "supports": "windows"
+}

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

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.8.0)
+project(DeviceNameResolver CXX)
+
+if(MSVC)
+  add_compile_options(/W3 /wd4005 /wd4996 /wd4018 /DUNICODE /D_UNICODE -D_SILENCE_STDEXT_HASH_DEPRECATION_WARNINGS -D_CRT_SECURE_NO_WARNINGS -DNOMINMAX)
+endif()
+
+include_directories(.)
+
+file(GLOB DeviceNameResolver_srcs "*.cpp")
+
+add_library(DeviceNameResolver ${DeviceNameResolver_srcs})
+
+install(
+  TARGETS DeviceNameResolver
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+)
+
+if(NOT DISABLE_INSTALL_HEADERS)
+  install(FILES DeviceNameResolver.h DESTINATION include)
+endif()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/devicenameresolver/add-string-headfile.patch

@@ -0,0 +1,12 @@
+diff --git a/NativeWinApi.h b/NativeWinApi.h
+index 63fced1..582306b 100644
+--- a/NativeWinApi.h
++++ b/NativeWinApi.h
+@@ -1,6 +1,7 @@
+ #pragma once
+ 
+ #include <windows.h>
++#include <string>
+ 
+ #define STATUS_INFO_LENGTH_MISMATCH ((NTSTATUS)0xC0000004L)
+ #define STATUS_SUCCESS   ((NTSTATUS)0x00000000L)

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

@@ -0,0 +1,25 @@
+vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
+
+vcpkg_from_bitbucket(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO mrexodia/devicenameresolver
+    REF 0850d88fa6a759d79b3c859933870d9aa602aa79
+    SHA512 9161411d3c8c17f49f5ff9482a007a6608872c948ef856aa7076a45c246e8d777e4cd6b54169d9c1b9e99e7b383436e1a084e168fafff1ca5f2b28260bac1452
+    HEAD_REF master
+    PATCHES add-string-headfile.patch
+)
+
+file(COPY "${CMAKE_CURRENT_LIST_DIR}/CMakeLists.txt" DESTINATION "${SOURCE_PATH}")
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS_DEBUG 
+        -DDISABLE_INSTALL_HEADERS=ON
+)
+
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/DeviceNameResolver.h" "__declspec(dllexport)" "")
+
+file(INSTALL "${SOURCE_PATH}/readme.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/devicenameresolver" RENAME copyright)

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

@@ -0,0 +1,13 @@
+{
+  "name": "devicenameresolver",
+  "version-string": "2016-06-26-0850d88fa6",
+  "port-version": 3,
+  "description": "a little library that resolves a path from a (virtual) device name.",
+  "supports": "windows & !uwp",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/devil/0001_fix-encoding.patch

@@ -0,0 +1,173 @@
+diff --git a/DevIL/src-ILU/include/ilu_error/ilu_err-french.h b/DevIL/src-ILU/include/ilu_error/ilu_err-french.h
+index d3b280d..445440e 100644
+--- a/DevIL/src-ILU/include/ilu_error/ilu_err-french.h
++++ b/DevIL/src-ILU/include/ilu_error/ilu_err-french.h
+@@ -17,19 +17,19 @@
+ #include "ilu_internal.h"
+ 
+ ILconst_string iluErrorStringsFrench[IL_FILE_READ_ERROR - IL_INVALID_ENUM + 1] = {
+-	IL_TEXT("�num�ration invalide"),
+-    IL_TEXT("d�passement de m�moire"),
+-	IL_TEXT("format non support�"),
++	IL_TEXT("énumération invalide"),
++    IL_TEXT("dépassement de mémoire"),
++	IL_TEXT("format non supporté"),
+ 	IL_TEXT("erreur interne"),
+-	IL_TEXT("valeur ill�gale"),
+-    IL_TEXT("op�ration ill�gale"),
+-	IL_TEXT("valeur de fichier ill�gale"),
+-	IL_TEXT("en-t�te de fichier invalide"),
+-	IL_TEXT("param�tre invalide"),
++	IL_TEXT("valeur illégale"),
++    IL_TEXT("opération illégale"),
++	IL_TEXT("valeur de fichier illégale"),
++	IL_TEXT("en-tête de fichier invalide"),
++	IL_TEXT("paramètre invalide"),
+ 	IL_TEXT("ne peut pas ouvrir le fichier"),
+ 	IL_TEXT("extension invalide"),
+-	IL_TEXT("fichier d�j� existant"),
+-	IL_TEXT("�quivalent hors-format"),
++	IL_TEXT("fichier déjà existant"),
++	IL_TEXT("équivalent hors-format"),
+ 	IL_TEXT("stack overflow"),	//often used like this in French, so no need to translate
+     IL_TEXT("stack underflow"),
+ 	IL_TEXT("conversion invalide"),
+@@ -38,7 +38,7 @@ ILconst_string iluErrorStringsFrench[IL_FILE_READ_ERROR - IL_INVALID_ENUM + 1] =
+ };
+ 
+ ILconst_string iluLibErrorStringsFrench[IL_LIB_EXR_ERROR - IL_LIB_GIF_ERROR + 1] = {
+-	IL_TEXT("gif : erreur dans la librairie"),	//or: gif : erreur dans la biblioth�que (but less used)
++	IL_TEXT("gif : erreur dans la librairie"),	//or: gif : erreur dans la bibliothèque (but less used)
+ 	IL_TEXT("jpeg : erreur dans la librairie"),
+ 	IL_TEXT("png : erreur dans la librairie"),
+ 	IL_TEXT("tiff : erreur dans la librairie"),
+diff --git a/DevIL/src-ILU/include/ilu_error/ilu_err-german.h b/DevIL/src-ILU/include/ilu_error/ilu_err-german.h
+index bf3f05c..acdbe8a 100644
+--- a/DevIL/src-ILU/include/ilu_error/ilu_err-german.h
++++ b/DevIL/src-ILU/include/ilu_error/ilu_err-german.h
+@@ -6,7 +6,7 @@
+ //
+ // Filename: src-ILU/include/ilu_error/ilu_err_German.h
+ //
+-// Description: Error functions in German, translated by Andreas St�ckel.
++// Description: Error functions in German, translated by Andreas Stöckel.
+ //
+ //-----------------------------------------------------------------------------
+ 
+@@ -17,23 +17,23 @@
+ #include "ilu_internal.h"
+ 
+ ILconst_string iluErrorStringsGerman[IL_FILE_READ_ERROR - IL_INVALID_ENUM + 1] = {
+-	IL_TEXT("Ung�ltiger Enumerator"),
+-    IL_TEXT("Kein Speicher verf�gbar"),
+-	IL_TEXT("Das Format wird noch nicht unterst�tzt"),
++	IL_TEXT("Ungültiger Enumerator"),
++    IL_TEXT("Kein Speicher verfügbar"),
++	IL_TEXT("Das Format wird noch nicht unterstützt"),
+ 	IL_TEXT("Interner Fehler"),
+-	IL_TEXT("Ung�ltiger Wert"),
+-    IL_TEXT("Unzul�ssige Operation"),
+-	IL_TEXT("Unzul�ssiger Datei-Wert"),
+-	IL_TEXT("Unzul�ssiger Datei-Header"),
+-	IL_TEXT("Unzul�ssiger Parameter"),
+-	IL_TEXT("Datei konnte nicht ge�ffnet werden"),
+-	IL_TEXT("Ung�ltiger Erweiterung"),
++	IL_TEXT("Ungültiger Wert"),
++    IL_TEXT("Unzulässige Operation"),
++	IL_TEXT("Unzulässiger Datei-Wert"),
++	IL_TEXT("Unzulässiger Datei-Header"),
++	IL_TEXT("Unzulässiger Parameter"),
++	IL_TEXT("Datei konnte nicht geöffnet werden"),
++	IL_TEXT("Ungültiger Erweiterung"),
+ 	IL_TEXT("Die Datei existiert bereits"),
+ 	IL_TEXT("out format equivalent"),
+-	IL_TEXT("Stack �berlauf"),
++	IL_TEXT("Stack Überlauf"),
+     IL_TEXT("Stack Unterlauf"),
+-	IL_TEXT("Ung�ltige Konvertierung"),
+-	IL_TEXT("Unzul�ssige Abmessungen"),
++	IL_TEXT("Ungültige Konvertierung"),
++	IL_TEXT("Unzulässige Abmessungen"),
+ 	IL_TEXT("Fehler beim Lesen der Datei")
+ };
+ 
+diff --git a/DevIL/src-ILU/include/ilu_error/ilu_err-italian.h b/DevIL/src-ILU/include/ilu_error/ilu_err-italian.h
+index 09d7bd1..d34b23f 100644
+--- a/DevIL/src-ILU/include/ilu_error/ilu_err-italian.h
++++ b/DevIL/src-ILU/include/ilu_error/ilu_err-italian.h
+@@ -22,13 +22,13 @@ ILconst_string iluErrorStringsItalian[IL_FILE_READ_ERROR - IL_INVALID_ENUM + 1]
+ 	IL_TEXT("configuri non sostenne"),
+ 	IL_TEXT("erreur interne"),
+ 	IL_TEXT("errore interno"),
+-    IL_TEXT("op�ration ill�gale"),
++    IL_TEXT("opération illégale"),
+ 	IL_TEXT("operazione illegale"),
+ 	IL_TEXT("inebri archivio nullo"),
+ 	IL_TEXT("parametro nullo"),
+-	IL_TEXT("non pu� aprire l'archivio"),
++	IL_TEXT("non può aprire l'archivio"),
+ 	IL_TEXT("dilazione nulla"),
+-	IL_TEXT("archivi gi� esistendo"),
++	IL_TEXT("archivi già esistendo"),
+ 	IL_TEXT("equivalente fuori-configuri"),
+ 	IL_TEXT("inondi di batteria"),
+     IL_TEXT("insufficienza di batteria"),
+diff --git a/DevIL/src-ILU/include/ilu_error/ilu_err-spanish.h b/DevIL/src-ILU/include/ilu_error/ilu_err-spanish.h
+index 77b5a24..0945fdf 100644
+--- a/DevIL/src-ILU/include/ilu_error/ilu_err-spanish.h
++++ b/DevIL/src-ILU/include/ilu_error/ilu_err-spanish.h
+@@ -6,7 +6,7 @@
+ //
+ // Filename: src-ILU/include/ilu_error/ilu_err-spanish.h
+ //
+-// Description: Error functions in Spanish, translated by Carlos Aragon�s
++// Description: Error functions in Spanish, translated by Carlos Aragonés
+ //
+ //-----------------------------------------------------------------------------
+ 
+@@ -19,32 +19,32 @@
+ ILconst_string iluErrorStringsSpanish[IL_FILE_READ_ERROR - IL_INVALID_ENUM + 1] = {
+ 	IL_TEXT("enumerador incorrecto"),
+     IL_TEXT("no queda memoria disponible"),
+-	IL_TEXT("formato no soportado todav�a"),
++	IL_TEXT("formato no soportado todavía"),
+ 	IL_TEXT("error interno"),
+ 	IL_TEXT("valor incorrecto"),
+-    IL_TEXT("operaci�n ilegaIL_TEXT("),
++    IL_TEXT("operación ilegaIL_TEXT("),
+ 	IL_TEXT("valor de fichero ilegaIL_TEXT("),
+ 	IL_TEXT("cabecera incorrecta"),
+-	IL_TEXT("par�metro incorrecto"),
++	IL_TEXT("parámetro incorrecto"),
+ 	IL_TEXT("no se puede abrir el fichero"),
+-	IL_TEXT("extensi�n desconocida"),
++	IL_TEXT("extensión desconocida"),
+ 	IL_TEXT("el fichero ya existe"),
+ 	IL_TEXT("formato de salida equivalente"),
+ 	IL_TEXT("desbordamiento superior de pila"),
+     IL_TEXT("desbordamiento inferior de pila"),
+-	IL_TEXT("conversi�n incorrecta"),
+-	IL_TEXT("n�mero de dimensiones incorrecto"),
++	IL_TEXT("conversión incorrecta"),
++	IL_TEXT("número de dimensiones incorrecto"),
+ 	IL_TEXT("error de lectura en el fichero")
+ };
+ 
+ ILconst_string iluLibErrorStringsSpanish[IL_LIB_EXR_ERROR - IL_LIB_GIF_ERROR + 1] = {
+-	IL_TEXT("error en la librer�a gif"),  // the correct translation will be 'error en la biblioteca gif', but nobody in spain uses the word 'biblioteca' for the translation the word 'library'. Almost all Spanish programmers translate 'library' incorrectly to 'librer�a'.
+-	IL_TEXT("error en la librer�a jpeg"),
+-	IL_TEXT("error en la librer�a png"),
+-	IL_TEXT("error en la librer�a tiff"),
+-	IL_TEXT("error en la librer�a mng"),
+-	IL_TEXT("error en la librer�a jp2"),
+-	IL_TEXT("error en la librer�a exr"),
++	IL_TEXT("error en la librería gif"),  // the correct translation will be 'error en la biblioteca gif', but nobody in spain uses the word 'biblioteca' for the translation the word 'library'. Almost all Spanish programmers translate 'library' incorrectly to 'librería'.
++	IL_TEXT("error en la librería jpeg"),
++	IL_TEXT("error en la librería png"),
++	IL_TEXT("error en la librería tiff"),
++	IL_TEXT("error en la librería mng"),
++	IL_TEXT("error en la librería jp2"),
++	IL_TEXT("error en la librería exr"),
+ };
+ 
+ ILconst_string iluMiscErrorStringsSpanish[2] = {

third-party/DPVO/Pangolin/scripts/vcpkg/ports/devil/0002_fix-missing-mfc-includes.patch

@@ -0,0 +1,102 @@
+diff --git a/DevIL/src-IL/msvc/IL Unicode.rc b/DevIL/src-IL/msvc/IL Unicode.rc
+index 346758f..298a207 100644
+--- a/DevIL/src-IL/msvc/IL Unicode.rc	
++++ b/DevIL/src-IL/msvc/IL Unicode.rc	
+@@ -7,7 +7,11 @@
+ //
+ // Generated from the TEXTINCLUDE 2 resource.
+ //
+-#include "afxres.h"
++#define APSTUDIO_HIDDEN_SYMBOLS
++#include "windows.h"
++#undef APSTUDIO_HIDDEN_SYMBOLS
++#include "resource.h"
++
+ /////////////////////////////////////////////////////////////////////////////
+ #undef APSTUDIO_READONLY_SYMBOLS
+ 
+diff --git a/DevIL/src-IL/msvc/IL.rc b/DevIL/src-IL/msvc/IL.rc
+index 8bfadf9..0b8289f 100644
+--- a/DevIL/src-IL/msvc/IL.rc
++++ b/DevIL/src-IL/msvc/IL.rc
+@@ -7,10 +7,13 @@
+ //
+ // Generated from the TEXTINCLUDE 2 resource.
+ //
+-#include "afxres.h"
++#define APSTUDIO_HIDDEN_SYMBOLS
++#include "windows.h"
++#undef APSTUDIO_HIDDEN_SYMBOLS
++#include "resource.h"
+ 
+-/////////////////////////////////////////////////////////////////////////////
+ #undef APSTUDIO_READONLY_SYMBOLS
++/////////////////////////////////////////////////////////////////////////////
+ 
+ /////////////////////////////////////////////////////////////////////////////
+ // English (United States) resources
+diff --git a/DevIL/src-IL/msvc8/IL Unicode.rc b/DevIL/src-IL/msvc8/IL Unicode.rc
+index 026ee49..66ca4bf 100644
+--- a/DevIL/src-IL/msvc8/IL Unicode.rc	
++++ b/DevIL/src-IL/msvc8/IL Unicode.rc	
+@@ -7,7 +7,10 @@
+ //
+ // Generated from the TEXTINCLUDE 2 resource.
+ //
+-#include "afxres.h"
++#define APSTUDIO_HIDDEN_SYMBOLS
++#include "windows.h"
++#undef APSTUDIO_HIDDEN_SYMBOLS
++#include "resource.h"
+ 
+ /////////////////////////////////////////////////////////////////////////////
+ #undef APSTUDIO_READONLY_SYMBOLS
+diff --git a/DevIL/src-IL/msvc8/IL.rc b/DevIL/src-IL/msvc8/IL.rc
+index 9301d41..3ad52c0 100644
+--- a/DevIL/src-IL/msvc8/IL.rc
++++ b/DevIL/src-IL/msvc8/IL.rc
+@@ -7,7 +7,10 @@
+ //
+ // Generated from the TEXTINCLUDE 2 resource.
+ //
+-#include "afxres.h"
++#define APSTUDIO_HIDDEN_SYMBOLS
++#include "windows.h"
++#undef APSTUDIO_HIDDEN_SYMBOLS
++#include "resource.h"
+ 
+ /////////////////////////////////////////////////////////////////////////////
+ #undef APSTUDIO_READONLY_SYMBOLS
+diff --git a/DevIL/src-IL/msvc9/IL Unicode.rc b/DevIL/src-IL/msvc9/IL Unicode.rc
+index d0dff4f..c9cf51f 100644
+--- a/DevIL/src-IL/msvc9/IL Unicode.rc	
++++ b/DevIL/src-IL/msvc9/IL Unicode.rc	
+@@ -7,7 +7,10 @@
+ //
+ // Generated from the TEXTINCLUDE 2 resource.
+ //
+-#include "afxres.h"
++#define APSTUDIO_HIDDEN_SYMBOLS
++#include "windows.h"
++#undef APSTUDIO_HIDDEN_SYMBOLS
++#include "resource.h"
+ 
+ /////////////////////////////////////////////////////////////////////////////
+ #undef APSTUDIO_READONLY_SYMBOLS
+diff --git a/DevIL/src-IL/msvc9/IL.rc b/DevIL/src-IL/msvc9/IL.rc
+index 9f5c795..6b8c891 100644
+--- a/DevIL/src-IL/msvc9/IL.rc
++++ b/DevIL/src-IL/msvc9/IL.rc
+@@ -7,7 +7,10 @@
+ //
+ // Generated from the TEXTINCLUDE 2 resource.
+ //
+-#include "afxres.h"
++#define APSTUDIO_HIDDEN_SYMBOLS
++#include "windows.h"
++#undef APSTUDIO_HIDDEN_SYMBOLS
++#include "resource.h"
+ 
+ /////////////////////////////////////////////////////////////////////////////
+ #undef APSTUDIO_READONLY_SYMBOLS
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/devil/0003_fix-openexr.patch

@@ -0,0 +1,55 @@
+diff --git a/DevIL/src-IL/CMakeLists.txt b/DevIL/src-IL/CMakeLists.txt
+index 02e4f03..4accaa1 100644
+--- a/DevIL/src-IL/CMakeLists.txt
++++ b/DevIL/src-IL/CMakeLists.txt
+@@ -235,8 +235,12 @@ target_link_libraries(IL ${libs})
+ 
+ # generate config.h
+ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/include/config.h.cmake.in ${CMAKE_CURRENT_SOURCE_DIR}/include/config.h)
+-
+-
++add_definitions(-DHAVE_CONFIG_H)
++if(WIN32)
++	if(BUILD_SHARED_LIBS)
++		add_definitions(-DOPENEXR_DLL)
++	endif()
++endif()
+ 
+ # generate pkg-config file
+ # TODO: add Requires.private or Libs.private
+diff --git a/DevIL/src-IL/src/il_exr.cpp b/DevIL/src-IL/src/il_exr.cpp
+index bbb3978..3916c6f 100644
+--- a/DevIL/src-IL/src/il_exr.cpp
++++ b/DevIL/src-IL/src/il_exr.cpp
+@@ -14,15 +14,10 @@
+ #include "il_internal.h"
+ #ifndef IL_NO_EXR
+ 
+-#ifndef HAVE_CONFIG_H // We are probably on a Windows box .
+-//#define OPENEXR_DLL
+-#define HALF_EXPORTS
+-#endif //HAVE_CONFIG_H
+-
+ #include "il_exr.h"
+-#include <ImfRgba.h>
+-#include <ImfArray.h>
+-#include <ImfRgbaFile.h>
++#include <OpenEXR/ImfRgba.h>
++#include <OpenEXR/ImfArray.h>
++#include <OpenEXR/ImfRgbaFile.h>
+ //#include <ImfTiledRgbaFile.h>
+ //#include <ImfInputFile.h>
+ //#include <ImfTiledInputFile.h>
+diff --git a/DevIL/src-IL/include/il_exr.h b/DevIL/src-IL/include/il_exr.h
+index 3d880c4..04d721a 100644
+--- a/DevIL/src-IL/include/il_exr.h
++++ b/DevIL/src-IL/include/il_exr.h
+@@ -15,7 +15,7 @@
+ #define EXR_H
+ 
+ #include "il_internal.h"
+-#include <ImfIO.h>
++#include <OpenEXR/ImfIO.h>
+ 
+ 
+ //using namespace Imf;  // Using this leads to errors with Microsoft's IStream.

third-party/DPVO/Pangolin/scripts/vcpkg/ports/devil/0004_compatible-jasper-2-0-20.patch

@@ -0,0 +1,52 @@
+diff --git a/DevIL/src-IL/src/il_jp2.cpp b/DevIL/src-IL/src/il_jp2.cpp
+index 730afee..a419c14 100644
+--- a/DevIL/src-IL/src/il_jp2.cpp
++++ b/DevIL/src-IL/src/il_jp2.cpp
+@@ -313,20 +313,31 @@ ILboolean iLoadJp2Internal(jas_stream_t	*Stream, ILimage *Image)
+ }
+ 
+ 
+-
+-static int iJp2_file_read(jas_stream_obj_t *obj, char *buf, int cnt)
++#ifdef __APPLE__
++static int iJp2_file_read(void *obj, char *buf, unsigned int cnt)
++#else
++static int iJp2_file_read(jas_stream_obj_t *obj, char *buf, unsigned int cnt)
++#endif
+ {
+ 	obj;
+-	return iread(buf, 1, cnt);
++	return iread((void*)buf, 1, cnt);
+ }
+ 
+-static int iJp2_file_write(jas_stream_obj_t *obj, char *buf, int cnt)
++#ifdef __APPLE__
++static int iJp2_file_write(void *obj, const char *buf, unsigned int cnt)
++#else
++static int iJp2_file_write(jas_stream_obj_t *obj, const char *buf, unsigned int cnt)
++#endif
+ {
+ 	obj;
+ 	return iwrite(buf, 1, cnt);
+ }
+ 
++#ifdef __APPLE__
+ static long iJp2_file_seek(jas_stream_obj_t *obj, long offset, int origin)
++#else
++static long iJp2_file_seek(void *obj, long offset, int origin)
++#endif
+ {
+ 	obj;
+ 
+@@ -343,7 +354,11 @@ static long iJp2_file_seek(jas_stream_obj_t *obj, long offset, int origin)
+ 	return 0;  // Failed
+ }
+ 
++#ifdef __APPLE__
++static int iJp2_file_close(void *obj)
++#else
+ static int iJp2_file_close(jas_stream_obj_t *obj)
++#endif
+ {
+ 	obj;
+ 	return 0;  // We choose when we want to close the file.

third-party/DPVO/Pangolin/scripts/vcpkg/ports/devil/0005-fix-pkgconfig.patch

@@ -0,0 +1,52 @@
+diff --git a/DevIL/src-IL/CMakeLists.txt b/DevIL/src-IL/CMakeLists.txt
+index 4accaa1..c3a1874 100644
+--- a/DevIL/src-IL/CMakeLists.txt
++++ b/DevIL/src-IL/CMakeLists.txt
+@@ -160,6 +160,27 @@ if(WIN32)
+ 	# Linux uses libIL.so, libILU.so, and libILUT.so, but Windows uses
+ 	#  DevIL.dll, ILU.dll, and ILUT.dll.
+ 	set_target_properties(IL PROPERTIES OUTPUT_NAME "DevIL")
++    
++    configure_file(${CMAKE_CURRENT_LIST_DIR}/pkgconfig/IL.pc.cmake.in ${CMAKE_CURRENT_LIST_DIR}/pkgconfig/DevIL.pc.cmake.in COPYONLY)
++    
++    file(READ ${CMAKE_CURRENT_LIST_DIR}/pkgconfig/DevIL.pc.cmake.in PKGCONFIG_FILE)
++    string(REPLACE "IL" "DevIL" PKGCONFIG_FILE "${PKGCONFIG_FILE}")
++    file(WRITE ${CMAKE_CURRENT_LIST_DIR}/pkgconfig/DevIL.pc.cmake.in "${PKGCONFIG_FILE}")
++    
++    file(READ ${CMAKE_CURRENT_LIST_DIR}/../src-ILU/pkgconfig/ILU.pc.cmake.in PKGCONFIG_FILE)
++    string(REPLACE "Requires: IL" "Requires: DevIL" PKGCONFIG_FILE "${PKGCONFIG_FILE}")
++    string(REPLACE "Libs.private: -lIL" "Libs.private: -lDevIL" PKGCONFIG_FILE "${PKGCONFIG_FILE}")
++    file(WRITE ${CMAKE_CURRENT_LIST_DIR}/../src-ILU/pkgconfig/ILU.pc.cmake.in "${PKGCONFIG_FILE}")
++    
++    file(READ ${CMAKE_CURRENT_LIST_DIR}/../src-ILUT/pkgconfig/ILUT.pc.cmake.in PKGCONFIG_FILE)
++    string(REPLACE "Requires: IL" "Requires: DevIL" PKGCONFIG_FILE "${PKGCONFIG_FILE}")
++    string(REPLACE "Libs.private: -lIL" "Libs.private: -lDevIL" PKGCONFIG_FILE "${PKGCONFIG_FILE}")
++    file(WRITE ${CMAKE_CURRENT_LIST_DIR}/../src-ILUT/pkgconfig/ILUT.pc.cmake.in "${PKGCONFIG_FILE}")
++    set(PKGCFG_IN_FILE pkgconfig/DevIL.pc.cmake.in)
++    set(PKGCFG_FILE DevIL.pc)
++else(WIN32)
++    set(PKGCFG_IN_FILE pkgconfig/IL.pc.cmake.in)
++    set(PKGCFG_FILE IL.pc)
+ endif(WIN32)
+ 
+ if(UNICODE)
+@@ -246,8 +267,8 @@ endif()
+ # TODO: add Requires.private or Libs.private
+ # (needed to support static linking?)
+ # TODO: sort out version number
+-configure_file( pkgconfig/IL.pc.cmake.in
+-		${CMAKE_CURRENT_BINARY_DIR}/IL.pc @ONLY)
++configure_file( ${PKGCFG_IN_FILE}
++		${CMAKE_CURRENT_BINARY_DIR}/${PKGCFG_FILE} @ONLY)
+ 
+ 
+ # Installation
+@@ -259,7 +280,7 @@ install (TARGETS IL
+ install (FILES ../include/IL/il.h DESTINATION include/IL)
+ 
+ install(FILES
+-    ${CMAKE_CURRENT_BINARY_DIR}/IL.pc
++    ${CMAKE_CURRENT_BINARY_DIR}/${PKGCFG_FILE}
+ 	DESTINATION lib/pkgconfig
+ )
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/devil/0006-fix-ilut-header.patch

@@ -0,0 +1,12 @@
+diff --git a/DevIL/src-ILUT/CMakeLists.txt b/DevIL/src-ILUT/CMakeLists.txt
+index 398d3c1..617c8d8 100644
+--- a/DevIL/src-ILUT/CMakeLists.txt
++++ b/DevIL/src-ILUT/CMakeLists.txt
+@@ -77,6 +77,7 @@ install (TARGETS ILUT
+     RUNTIME DESTINATION bin
+ )
+ install (FILES ../include/IL/ilut.h DESTINATION include/IL)
++install (FILES ../include/IL/ilut_config.h DESTINATION include/IL)
+ 
+ install(FILES
+     ${CMAKE_CURRENT_BINARY_DIR}/ILUT.pc

third-party/DPVO/Pangolin/scripts/vcpkg/ports/devil/enable-static.patch

@@ -0,0 +1,26 @@
+diff --git a/DevIL/src-ILU/CMakeLists.txt b/DevIL/src-ILU/CMakeLists.txt
+index 17a3afe..a46ab41 100644
+--- a/DevIL/src-ILU/CMakeLists.txt
++++ b/DevIL/src-ILU/CMakeLists.txt
+@@ -43,7 +43,7 @@ source_group("Header Files" FILES ${ILU_INC} )
+ source_group("Resource Files" FILES ${ILU_RSRC} )
+ 
+ # Remove SHARED to create a static library
+-add_library(ILU SHARED ${ILU_SRCS} ${ILU_INC} ${ILU_RSRC})
++add_library(ILU ${ILU_SRCS} ${ILU_INC} ${ILU_RSRC})
+ 
+ 
+ ## ILU requires IL
+diff --git a/DevIL/src-ILUT/CMakeLists.txt b/DevIL/src-ILUT/CMakeLists.txt
+index 21470cb..398d3c1 100644
+--- a/DevIL/src-ILUT/CMakeLists.txt
++++ b/DevIL/src-ILUT/CMakeLists.txt
+@@ -43,7 +43,7 @@ source_group("Header Files" FILES ${ILUT_INC} )
+ source_group("Resource Files" FILES ${ILUT_RSRC} )
+ 
+ # Remove SHARED to create a static library
+-add_library(ILUT SHARED ${ILUT_SRCS} ${ILUT_INC} ${ILUT_RSRC})
++add_library(ILUT ${ILUT_SRCS} ${ILUT_INC} ${ILUT_RSRC})
+ 
+ ## add link sub library info
+ target_link_libraries(ILUT

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

@@ -0,0 +1,49 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO DentonW/DevIL
+    REF v1.8.0
+    SHA512 4aed5e50a730ece8b1eb6b2f6204374c6fb6f5334cf7c880d84c0f79645ea7c6b5118f57a7868a487510fc59c452f51472b272215d4c852f265f58b5857e17c7
+    HEAD_REF master
+    PATCHES
+        0001_fix-encoding.patch
+        0002_fix-missing-mfc-includes.patch
+        0003_fix-openexr.patch
+        enable-static.patch
+        0004_compatible-jasper-2-0-20.patch
+        0005-fix-pkgconfig.patch
+        0006-fix-ilut-header.patch
+)
+
+file(REMOVE ${SOURCE_PATH}/DevIL/src-IL/cmake/FindOpenEXR.cmake)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+    INVERTED_FEATURES
+    libpng  IL_NO_PNG
+    tiff    IL_NO_TIF
+    libjpeg IL_NO_JPG
+    openexr IL_NO_EXR
+    jasper  IL_NO_JP2
+    lcms    IL_NO_LCMS
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}/DevIL
+    PREFER_NINJA
+    DISABLE_PARALLEL_CONFIGURE
+    OPTIONS
+         ${FEATURE_OPTIONS}
+        -DIL_NO_MNG=ON
+        -DIL_USE_DXTC_NVIDIA=OFF
+        -DIL_USE_DXTC_SQUISH=OFF
+)
+
+vcpkg_install_cmake()
+vcpkg_copy_pdbs()
+
+vcpkg_fixup_pkgconfig()
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+
+# Handle copyright
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

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

@@ -0,0 +1,53 @@
+{
+  "name": "devil",
+  "version": "1.8.0",
+  "port-version": 8,
+  "description": "A full featured cross-platform image library",
+  "homepage": "https://github.com/DentonW/DevIL",
+  "default-features": [
+    "jasper",
+    "lcms",
+    "libjpeg",
+    "libpng",
+    "openexr",
+    "tiff"
+  ],
+  "features": {
+    "jasper": {
+      "description": "Use JasPer for .jp2 (and some .icns) support",
+      "dependencies": [
+        "jasper"
+      ]
+    },
+    "lcms": {
+      "description": "Use Little CMS for color profiles",
+      "dependencies": [
+        "lcms"
+      ]
+    },
+    "libjpeg": {
+      "description": "Use Libjpeg for .jpg (and some .blp) support",
+      "dependencies": [
+        "libjpeg-turbo"
+      ]
+    },
+    "libpng": {
+      "description": "Use Libpng for .png (and some .ico)",
+      "dependencies": [
+        "libpng"
+      ]
+    },
+    "openexr": {
+      "description": " Use openexr",
+      "dependencies": [
+        "openexr"
+      ]
+    },
+    "tiff": {
+      "description": "Use Libtiff for .tif support",
+      "dependencies": [
+        "tiff"
+      ]
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/dimcli/fix-build.patch

@@ -0,0 +1,39 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 509e634..8b5a30b 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -392,7 +392,7 @@ if(MSVC)
+     set(CMAKE_CXX_FLAGS "\
+         /EHsc /GF /nologo /std:c++latest /utf-8 /W4 /WX \
+         /Zc:inline /Zc:rvalueCast /Zc:strictStrings \
+-        /Fa$(IntDir)")
++        /Fa${CMAKE_SOURCE_DIR}/libs/dimcli")
+     if(NOT MSVC_VERSION LESS 1910)
+         # /permissive-  // reject non-conforming backward compatibility-isms
+         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /permissive-")
+@@ -431,8 +431,8 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
+     if(BUILD_COVERAGE)
+         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage")
+         set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --coverage")
+     endif()
+-elseif(CMAKE_CXX_COMPILER_ID STREQUAL Clang)
++elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+     if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "5")
+         set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++1z")
+     else()
+@@ -533,7 +533,6 @@ endforeach()
+ # test targets
+ if(BUILD_TESTING)
+     enable_testing()
+-endif()
+ file(GLOB allnames tests/*)
+ foreach(var ${allnames})
+     if(IS_DIRECTORY "${var}")
+@@ -548,6 +547,7 @@ foreach(var ${allnames})
+         endif()
+     endif()
+ endforeach()
++endif()
+ 
+ # update deps file
+ update_deps_file(${deps})

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

@@ -0,0 +1,31 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO gknowles/dimcli
+    REF a4dbb4b1c8a3825fc304bbbad3438dbe1840feae # v5.0.2
+    SHA512 25cc9002fd46856854545934f385d8578f207b1ce01802a172e49e008cdf1db0db11db7cefeef18258b99c13570af9193e83f5826613d8b0a118d7bae3f0d03f
+    HEAD_REF master
+    PATCHES fix-build.patch
+)
+
+string(COMPARE EQUAL "${VCPKG_CRT_LINKAGE}" "static" staticCrt)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    DISABLE_PARALLEL_CONFIGURE
+    OPTIONS
+        -DLINK_STATIC_RUNTIME:BOOL=${staticCrt}
+        -DINSTALL_LIBS:BOOL=ON
+        -DBUILD_PROJECT_NAME=dimcli
+        -DBUILD_TESTING=OFF
+        -DINSTALL_TOOLS=OFF
+        -DINSTALL_TESTS=OFF
+)
+
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+
+# Remove includes from ${CMAKE_INSTALL_PREFIX}/debug
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+# Handle copyright
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/dimcli" RENAME copyright)

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

@@ -0,0 +1,14 @@
+{
+  "name": "dimcli",
+  "version-semver": "5.0.2",
+  "port-version": 3,
+  "description": "C++ command line parser toolkit",
+  "homepage": "https://github.com/gknowles/dimcli",
+  "supports": "!uwp",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    }
+  ]
+}

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

@@ -0,0 +1,20 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO Microsoft/DirectX-Headers
+    REF v1.4.9
+    SHA512 439d28a8344ef3a012428f53fcb9d2d9823d51c61786363d87f8ba15921326c220478b2557aab3f641a2406f1e5f299a8e21a82547febff3b9cd7b26b09b1c22
+    HEAD_REF master
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS -DDXHEADERS_BUILD_TEST=OFF
+)
+
+vcpkg_install_cmake()
+vcpkg_fixup_cmake_targets(CONFIG_PATH share/directx-headers/cmake)
+
+file(REMOVE_RECURSE "${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/directx-headers/vcpkg.json

@@ -0,0 +1,8 @@
+{
+  "name": "directx-headers",
+  "version": "1.4.9",
+  "port-version": 1,
+  "description": "Official DirectX 12 Headers",
+  "homepage": "https://devblogs.microsoft.com/directx/",
+  "supports": "windows | linux"
+}

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

@@ -0,0 +1,31 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO Microsoft/DirectXMath
+    REF jan2022
+    SHA512 8defaa693c8b8aed05791c83b99fa73aac2fc18475b0d51337a81f7d9807b53e426fdf530ed6f1d2d0ebd259e87cc42ac881bdb168387d883998f58a5c0a4886
+    HEAD_REF main
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH cmake)
+
+if(NOT VCPKG_TARGET_IS_WINDOWS)
+    vcpkg_download_distfile(
+        SAL_HEADER
+        URLS "https://raw.githubusercontent.com/dotnet/corert/master/src/Native/inc/unix/sal.h"
+        FILENAME "sal.h"
+        SHA512 1643571673195d9eb892d2f2ac76eac7113ef7aa0ca116d79f3e4d3dc9df8a31600a9668b7e7678dfbe5a76906f9e0734ef8d6db0903ccc68fc742dd8238d8b0
+    )
+
+    file(INSTALL
+      ${DOWNLOADS}/sal.h
+      DESTINATION ${CURRENT_PACKAGES_DIR}/include/DirectXMath)
+endif()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug")
+
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)