b19712019d5cf2da75467f8a2ea1bb2a313b21633e77a777a6f22326e1787900

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ogre-next/environment-overrides.cmake

@@ -0,0 +1,16 @@
+#[[
+
+Building steps for ogre-next[d3d9]:
+
+1. Download and install "Microsoft DirectX SDK"
+https://www.microsoft.com/en-us/download/confirmation.aspx?id=6812
+
+2. Set env variable
+set DXSDK_DIR=C:/Program Files (x86)/Microsoft DirectX SDK (June 2010)
+
+3. Install port
+.\vcpkg.exe install ogre-next[d3d9] --triplet x64-windows
+
+]]
+
+set(VCPKG_ENV_PASSTHROUGH DXSDK_DIR)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ogre-next/fix_find_package_sdl2.patch

@@ -0,0 +1,77 @@
+diff --git a/CMake/Dependencies.cmake b/CMake/Dependencies.cmake
+index 3f3e2d7..0cc9606 100644
+--- a/CMake/Dependencies.cmake
++++ b/CMake/Dependencies.cmake
+@@ -267,7 +267,7 @@ endif()
+ #######################################################################
+ 
+ # Find sdl2
+-find_package(SDL2)
++find_package(SDL2 CONFIG REQUIRED)
+ macro_log_feature(SDL2_FOUND "SDL2" "Simple DirectMedia Library" "https://www.libsdl.org/" FALSE "" "")
+ 
+ #######################################################################
+diff --git a/CMake/InstallDependencies.cmake b/CMake/InstallDependencies.cmake
+index f98b358..e5eb9ed 100644
+--- a/CMake/InstallDependencies.cmake
++++ b/CMake/InstallDependencies.cmake
+@@ -100,8 +100,6 @@ if (OGRE_INSTALL_DEPENDENCIES)
+ 	endif ()
+ 
+ 	if( OGRE_BUILD_SAMPLES2 )
+-	  install_debug(SDL2.dll)
+-	  install_release(SDL2.dll)
+ 	  install_debug(openvr_api.dll)
+ 	  install_release(openvr_api.dll)
+ 	  install_debug(openvr_api.pdb)
+diff --git a/CMake/Packages/FindSDL2.cmake b/CMake/Packages/FindSDL2.cmake
+index 4b42a51..793eb71 100644
+--- a/CMake/Packages/FindSDL2.cmake
++++ b/CMake/Packages/FindSDL2.cmake
+@@ -182,7 +182,7 @@ ENDIF(SDL2_LIBRARY_TEMP)
+ INCLUDE(FindPackageHandleStandardArgs)
+ 
+ FIND_PACKAGE_HANDLE_STANDARD_ARGS(SDL2
+-                                  REQUIRED_VARS SDL2_LIBRARY SDL2_INCLUDE_DIR)
++                                  REQUIRED_VARS SDL2::SDL2 SDL2_INCLUDE_DIR)
+ 
+ if (WIN32)
+ 	set(SDL2_BIN_SEARCH_PATH ${OGRE_DEPENDENCIES_DIR}/bin ${CMAKE_SOURCE_DIR}/Dependencies/bin ${SDL2_HOME}/dll
+@@ -201,6 +201,6 @@ IF(SDL2_STATIC)
+   if (UNIX AND NOT APPLE)
+     EXECUTE_PROCESS(COMMAND sdl2-config --static-libs OUTPUT_VARIABLE SDL2_LINK_FLAGS)
+     STRING(REGEX REPLACE "(\r?\n)+$" "" SDL2_LINK_FLAGS "${SDL2_LINK_FLAGS}")
+-    SET(SDL2_LIBRARY ${SDL2_LINK_FLAGS})
++    SET(SDL2::SDL2 ${SDL2_LINK_FLAGS})
+   ENDIF()
+ ENDIF(SDL2_STATIC)
+diff --git a/Samples/2.0/Common/CMakeLists.txt b/Samples/2.0/Common/CMakeLists.txt
+index b21601e..4ef90bd 100644
+--- a/Samples/2.0/Common/CMakeLists.txt
++++ b/Samples/2.0/Common/CMakeLists.txt
+@@ -49,4 +49,4 @@ add_library(${OGRE_SAMPLES_COMMON_LIBRARY} STATIC ${SOURCE_FILES} ${HEADER_FILES
+ 
+ link_directories(${CMAKE_CURRENT_BINARY_DIR})
+ 
+-target_link_libraries(${OGRE_SAMPLES_COMMON_LIBRARY} ${SDL2_LIBRARY} OgreHlmsPbs OgreHlmsUnlit)
++target_link_libraries(${OGRE_SAMPLES_COMMON_LIBRARY} SDL2::SDL2 OgreHlmsPbs OgreHlmsUnlit)
+diff --git a/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake b/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake
+index 5e80709..3ba9b5a 100644
+--- a/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake
++++ b/Samples/2.0/Tutorials/EmptyProject/CMake/Dependencies/OGRE.cmake
+@@ -224,13 +224,13 @@ endif()
+ 
+ if( NOT IOS )
+ 	set( CMAKE_PREFIX_PATH "${OGRE_SOURCE}/Dependencies ${CMAKE_PREFIX_PATH}" )
+-	find_package( SDL2 )
++	find_package(SDL2 CONFIG REQUIRED)
+ 	if( NOT SDL2_FOUND )
+ 		message( "Could not find SDL2. https://www.libsdl.org/" )
+ 	else()
+ 		message( STATUS "Found SDL2" )
+ 		include_directories( ${SDL2_INCLUDE_DIR} )
+-		set( OGRE_DEPENDENCY_LIBS ${OGRE_DEPENDENCY_LIBS} ${SDL2_LIBRARY} )
++		set( OGRE_DEPENDENCY_LIBS ${OGRE_DEPENDENCY_LIBS} SDL2::SDL2 )
+ 	endif()
+ endif()
+ 

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

@@ -0,0 +1,119 @@
+# This portfile is based (shamelessly copied and adapted a bit) on 'ogre' portfile.
+if (EXISTS "${CURRENT_INSTALLED_DIR}/Media/HLMS/Blendfunctions_piece_fs.glslt")
+    message(FATAL_ERROR "FATAL ERROR: ogre-next and ogre are incompatible.")
+endif()
+
+if(NOT VCPKG_TARGET_IS_WINDOWS)
+    message("${PORT} currently requires the following library from the system package manager:\n    Xaw\n\nIt can be installed on Ubuntu systems via apt-get install libxaw7-dev")
+endif()
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO OGRECave/ogre-next
+    REF 10b56694f33fd6ead1c501eb90379bcac671d841 #v2.3.0
+    SHA512 b2f1c55655582b2844b7c10cce965cc5268829a0702b09abcfe04fba8db00ad032f605d683c88811f77f9b7b4fb8a1095079f1a1c96bbe9fd022621f4ff4cf81 
+    HEAD_REF master
+    PATCHES
+        toolchain_fixes.patch
+        fix_find_package_sdl2.patch
+)
+
+file(REMOVE "${SOURCE_PATH}/CMake/Packages/FindOpenEXR.cmake")
+
+if (VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    set(OGRE_STATIC ON)
+else()
+    set(OGRE_STATIC OFF)
+endif()
+
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        d3d9    OGRE_BUILD_RENDERSYSTEM_D3D9
+        java    OGRE_BUILD_COMPONENT_JAVA
+        python  OGRE_BUILD_COMPONENT_PYTHON
+        csharp  OGRE_BUILD_COMPONENT_CSHARP
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        ${FEATURE_OPTIONS}
+        -DOGRE_BUILD_DEPENDENCIES=OFF
+        -DOGRE_COPY_DEPENDENCIES=OFF
+        -DOGRE_BUILD_SAMPLES=OFF
+        -DOGRE_BUILD_TESTS=OFF
+        -DOGRE_BUILD_TOOLS=OFF
+        -DOGRE_BUILD_MSVC_MP=ON
+        -DOGRE_BUILD_MSVC_ZM=ON
+        -DOGRE_INSTALL_DEPENDENCIES=OFF
+        -DOGRE_INSTALL_DOCS=OFF
+        -DOGRE_INSTALL_PDB=OFF
+        -DOGRE_INSTALL_SAMPLES=OFF
+        -DOGRE_INSTALL_TOOLS=OFF
+        -DOGRE_INSTALL_VSPROPS=OFF
+        -DOGRE_STATIC=${OGRE_STATIC}
+        -DOGRE_CONFIG_THREAD_PROVIDER=std
+        -DOGRE_BUILD_RENDERSYSTEM_D3D11=ON
+        -DOGRE_BUILD_RENDERSYSTEM_GL=ON
+        -DOGRE_BUILD_RENDERSYSTEM_GL3PLUS=ON
+        -DOGRE_BUILD_RENDERSYSTEM_GLES=OFF
+        -DOGRE_BUILD_RENDERSYSTEM_GLES2=OFF
+        -DOGRE_CMAKE_DIR=share/ogre-next
+)
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+
+vcpkg_cmake_config_fixup()
+
+
+
+file(GLOB REL_CFGS "${CURRENT_PACKAGES_DIR}/bin/*.cfg")
+if(REL_CFGS)
+  file(COPY ${REL_CFGS} DESTINATION "${CURRENT_PACKAGES_DIR}/lib")
+  file(REMOVE ${REL_CFGS})
+endif()
+
+file(GLOB DBG_CFGS "${CURRENT_PACKAGES_DIR}/debug/bin/*.cfg")
+if(DBG_CFGS)
+  file(COPY ${DBG_CFGS} DESTINATION "${CURRENT_PACKAGES_DIR}/debug/lib")
+  file(REMOVE ${DBG_CFGS})
+endif()
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+endif()
+
+#Remove OgreMain*.lib from lib/ folder, because autolink would complain, since it defines a main symbol
+#manual-link subfolder is here to the rescue!
+if(VCPKG_TARGET_IS_WINDOWS)
+    if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "Release")
+        file(MAKE_DIRECTORY "${CURRENT_PACKAGES_DIR}/lib/manual-link")
+        if(VCPKG_LIBRARY_LINKAGE STREQUAL "dynamic")
+            file(RENAME "${CURRENT_PACKAGES_DIR}/lib/release/OgreMain.lib" "${CURRENT_PACKAGES_DIR}/lib/manual-link/OgreMain.lib")
+        else()
+            file(RENAME "${CURRENT_PACKAGES_DIR}/lib/release/OgreMainStatic.lib" "${CURRENT_PACKAGES_DIR}/lib/manual-link/OgreMainStatic.lib")
+        endif()
+    endif()
+    if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "Debug")
+        file(MAKE_DIRECTORY "${CURRENT_PACKAGES_DIR}/debug/lib/manual-link")
+        if(VCPKG_LIBRARY_LINKAGE STREQUAL "dynamic")
+            file(RENAME "${CURRENT_PACKAGES_DIR}/debug/lib/debug/OgreMain_d.lib" "${CURRENT_PACKAGES_DIR}/debug/lib/manual-link/OgreMain_d.lib")
+        else()
+            file(RENAME "${CURRENT_PACKAGES_DIR}/debug/lib/debug/OgreMainStatic_d.lib" "${CURRENT_PACKAGES_DIR}/debug/lib/manual-link/OgreMainStatic_d.lib")
+        endif()
+    endif()
+
+    file(GLOB SHARE_FILES "${CURRENT_PACKAGES_DIR}/share/ogre-next/*.cmake")
+    foreach(SHARE_FILE ${SHARE_FILES})
+        file(READ "${SHARE_FILE}" _contents)
+        string(REPLACE "lib/OgreMain" "lib/manual-link/OgreMain" _contents "${_contents}")
+        file(WRITE "${SHARE_FILE}" "${_contents}")
+    endforeach()
+endif()
+
+# Handle copyright
+file(INSTALL ${SOURCE_PATH}/COPYING DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ogre-next/toolchain_fixes.patch

@@ -0,0 +1,231 @@
+diff --git a/CMake/CMakeLists.txt b/CMake/CMakeLists.txt
+index f3a62f2..b53df6f 100644
+--- a/CMake/CMakeLists.txt
++++ b/CMake/CMakeLists.txt
+@@ -13,10 +13,12 @@
+ # directory, but can also be used for custom projects.
+ #############################################################
+ 
+-if(WIN32 OR APPLE)
+-	set(OGRE_CMAKE_DIR "CMake")
+-else()
+-	set(OGRE_CMAKE_DIR "${OGRE_LIB_DIRECTORY}/OGRE/cmake")
++if(NOT DEFINED OGRE_CMAKE_DIR)
++  if(WIN32 OR APPLE)
++    set(OGRE_CMAKE_DIR "CMake")
++  else()
++    set(OGRE_CMAKE_DIR "${OGRE_LIB_DIRECTORY}/OGRE/cmake")
++  endif()
+ endif()
+ 
+ set(INST_FILES
+diff --git a/CMake/Packages/FindFreeImage.cmake b/CMake/Packages/FindFreeImage.cmake
+index 7c89ec5..d8314f0 100644
+--- a/CMake/Packages/FindFreeImage.cmake
++++ b/CMake/Packages/FindFreeImage.cmake
+@@ -43,7 +43,7 @@ find_path(FreeImage_INCLUDE_DIR NAMES FreeImage.h HINTS ${FreeImage_INC_SEARCH_P
+ find_library(FreeImage_LIBRARY_REL NAMES ${FreeImage_LIBRARY_NAMES} HINTS ${FreeImage_LIB_SEARCH_PATH} ${FreeImage_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Release RelWithDebInfo MinSizeRel)
+ find_library(FreeImage_LIBRARY_DBG NAMES ${FreeImage_LIBRARY_NAMES_DBG} HINTS ${FreeImage_LIB_SEARCH_PATH} ${FreeImage_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Debug)
+ 
+-make_library_set(FreeImage_LIBRARY)
++make_library_set(FreeImage)
+ 
+ findpkg_finish(FreeImage)
+ 
+diff --git a/CMake/Packages/FindGLSLOptimizer.cmake b/CMake/Packages/FindGLSLOptimizer.cmake
+index dd4b179..6f158fc 100644
+--- a/CMake/Packages/FindGLSLOptimizer.cmake
++++ b/CMake/Packages/FindGLSLOptimizer.cmake
+@@ -38,7 +38,7 @@ findpkg_framework(GLSL_Optimizer)
+ find_path(GLSL_Optimizer_INCLUDE_DIR NAMES glsl_optimizer.h HINTS ${GLSL_Optimizer_INC_SEARCH_PATH} ${GLSL_Optimizer_PKGC_INCLUDE_DIRS} PATH_SUFFIXES GLSL_Optimizer)
+ find_library(GLSL_Optimizer_LIBRARY_REL NAMES ${GLSL_Optimizer_LIBRARY_NAMES} HINTS ${GLSL_Optimizer_LIB_SEARCH_PATH} ${GLSL_Optimizer_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Release RelWithDebInfo MinSizeRel)
+ find_library(GLSL_Optimizer_LIBRARY_DBG NAMES ${GLSL_Optimizer_LIBRARY_NAMES_DBG} HINTS ${GLSL_Optimizer_LIB_SEARCH_PATH} ${GLSL_Optimizer_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Debug)
+-make_library_set(GLSL_Optimizer_LIBRARY)
++make_library_set(GLSL_Optimizer)
+ 
+ findpkg_finish(GLSL_Optimizer)
+ add_parent_dir(GLSL_Optimizer_INCLUDE_DIRS GLSL_Optimizer_INCLUDE_DIR)
+diff --git a/CMake/Packages/FindHLSL2GLSL.cmake b/CMake/Packages/FindHLSL2GLSL.cmake
+index 7125895..13a306f 100644
+--- a/CMake/Packages/FindHLSL2GLSL.cmake
++++ b/CMake/Packages/FindHLSL2GLSL.cmake
+@@ -38,7 +38,7 @@ findpkg_framework(HLSL2GLSL)
+ find_path(HLSL2GLSL_INCLUDE_DIR NAMES hlsl2glsl.h HINTS ${HLSL2GLSL_INC_SEARCH_PATH} ${HLSL2GLSL_PKGC_INCLUDE_DIRS} PATH_SUFFIXES HLSL2GLSL)
+ find_library(HLSL2GLSL_LIBRARY_REL NAMES ${HLSL2GLSL_LIBRARY_NAMES} HINTS ${HLSL2GLSL_LIB_SEARCH_PATH} ${HLSL2GLSL_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Release RelWithDebInfo MinSizeRel)
+ find_library(HLSL2GLSL_LIBRARY_DBG NAMES ${HLSL2GLSL_LIBRARY_NAMES_DBG} HINTS ${HLSL2GLSL_LIB_SEARCH_PATH} ${HLSL2GLSL_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Debug)
+-make_library_set(HLSL2GLSL_LIBRARY)
++make_library_set(HLSL2GLSL)
+ 
+ findpkg_finish(HLSL2GLSL)
+ add_parent_dir(HLSL2GLSL_INCLUDE_DIRS HLSL2GLSL_INCLUDE_DIR)
+diff --git a/CMake/Packages/FindNVAPI.cmake b/CMake/Packages/FindNVAPI.cmake
+index 95c70cd..893ce01 100644
+--- a/CMake/Packages/FindNVAPI.cmake
++++ b/CMake/Packages/FindNVAPI.cmake
+@@ -44,7 +44,7 @@ findpkg_framework(NVAPI)
+ find_path(NVAPI_INCLUDE_DIR NAMES nvapi.h HINTS ${NVAPI_FRAMEWORK_INCLUDES} ${NVAPI_INC_SEARCH_PATH} ${NVAPI_PKGC_INCLUDE_DIRS} PATH_SUFFIXES NVAPI)
+ find_library(NVAPI_LIBRARY_REL NAMES ${NVAPI_LIBRARY_NAMES} HINTS ${NVAPI_LIB_SEARCH_PATH} ${NVAPI_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" release relwithdebinfo minsizerel)
+ find_library(NVAPI_LIBRARY_DBG NAMES ${NVAPI_LIBRARY_NAMES_DBG} HINTS ${NVAPI_LIB_SEARCH_PATH} ${NVAPI_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" debug)
+-make_library_set(NVAPI_LIBRARY)
++make_library_set(NVAPI)
+ 
+ findpkg_finish(NVAPI)
+ add_parent_dir(NVAPI_INCLUDE_DIRS NVAPI_INCLUDE_DIR)
+
+diff --git a/CMake/Packages/FindPOCO.cmake b/CMake/Packages/FindPOCO.cmake
+index 6b6d7fa..3667b8b 100644
+--- a/CMake/Packages/FindPOCO.cmake
++++ b/CMake/Packages/FindPOCO.cmake
+@@ -50,7 +50,7 @@ findpkg_framework(POCO)
+ find_path(POCO_INCLUDE_DIR NAMES Poco/Foundation.h HINTS ${POCO_INC_SEARCH_PATH} ${POCO_PKGC_INCLUDE_DIRS} PATH_SUFFIXES Foundation/include)
+ find_library(POCO_LIBRARY_REL NAMES ${POCO_LIBRARY_NAMES} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+ find_library(POCO_LIBRARY_DBG NAMES ${POCO_LIBRARY_NAMES_DBG} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+-make_library_set(POCO_LIBRARY)
++make_library_set(POCO)
+ 
+ findpkg_finish(POCO)
+ 
+@@ -66,7 +66,7 @@ get_debug_names(POCO_Util_LIBRARY_NAMES)
+ find_path(POCO_Util_INCLUDE_DIR NAMES Poco/Util/Util.h HINTS ${POCO_INCLUDE_DIR} ${POCO_INC_SEARCH_PATH} ${POCO_PKGC_INCLUDE_DIRS} PATH_SUFFIXES Util/include)
+ find_library(POCO_Util_LIBRARY_REL NAMES ${POCO_Util_LIBRARY_NAMES} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+ find_library(POCO_Util_LIBRARY_DBG NAMES ${POCO_Util_LIBRARY_NAMES_DBG} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+-make_library_set(POCO_Util_LIBRARY)
++make_library_set(POCO_Util)
+ findpkg_finish(POCO_Util)
+ 
+ # Look for Poco's Net package
+@@ -76,7 +76,7 @@ get_debug_names(POCO_Net_LIBRARY_NAMES)
+ find_path(POCO_Net_INCLUDE_DIR NAMES Poco/Net/Net.h HINTS ${POCO_INCLUDE_DIR} ${POCO_INC_SEARCH_PATH} ${POCO_PKGC_INCLUDE_DIRS} PATH_SUFFIXES Net/include)
+ find_library(POCO_Net_LIBRARY_REL NAMES ${POCO_Net_LIBRARY_NAMES} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+ find_library(POCO_Net_LIBRARY_DBG NAMES ${POCO_Net_LIBRARY_NAMES_DBG} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+-make_library_set(POCO_Net_LIBRARY)
++make_library_set(POCO_Net)
+ findpkg_finish(POCO_Net)
+ 
+ # Look for Poco's NetSSL package
+@@ -86,7 +86,7 @@ get_debug_names(POCO_NetSSL_LIBRARY_NAMES)
+ find_path(POCO_NetSSL_INCLUDE_DIR NAMES Poco/Net/NetSSL.h HINTS ${POCO_INCLUDE_DIR} ${POCO_INC_SEARCH_PATH} ${POCO_PKGC_INCLUDE_DIRS} PATH_SUFFIXES NetSSL/include)
+ find_library(POCO_NetSSL_LIBRARY_REL NAMES ${POCO_NetSSL_LIBRARY_NAMES} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+ find_library(POCO_NetSSL_LIBRARY_DBG NAMES ${POCO_NetSSL_LIBRARY_NAMES_DBG} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+-make_library_set(POCO_NetSSL_LIBRARY)
++make_library_set(POCO_NetSSL)
+ findpkg_finish(POCO_NetSSL)
+ 
+ # Look for Poco's XML package
+@@ -96,6 +96,6 @@ get_debug_names(POCO_XML_LIBRARY_NAMES)
+ find_path(POCO_XML_INCLUDE_DIR NAMES Poco/XML/XML.h HINTS ${POCO_INCLUDE_DIR} ${POCO_INC_SEARCH_PATH} ${POCO_PKGC_INCLUDE_DIRS} PATH_SUFFIXES XML/include)
+ find_library(POCO_XML_LIBRARY_REL NAMES ${POCO_XML_LIBRARY_NAMES} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+ find_library(POCO_XML_LIBRARY_DBG NAMES ${POCO_XML_LIBRARY_NAMES_DBG} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+-make_library_set(POCO_XML_LIBRARY)
++make_library_set(POCO_XML)
+ findpkg_finish(POCO_XML)
+ 
+diff --git a/CMake/Packages/FindTBB.cmake b/CMake/Packages/FindTBB.cmake
+index 4200aa0..35e4ea3 100644
+--- a/CMake/Packages/FindTBB.cmake
++++ b/CMake/Packages/FindTBB.cmake
+@@ -104,7 +104,7 @@ findpkg_framework(TBB)
+ find_path(TBB_INCLUDE_DIR NAMES tbb/tbb.h HINTS ${TBB_INC_SEARCH_PATH} ${TBB_PKGC_INCLUDE_DIRS})
+ find_library(TBB_LIBRARY_REL NAMES ${TBB_LIBRARY_NAMES} HINTS ${TBB_LIB_SEARCH_PATH} ${TBB_PKGC_LIBRARY_DIRS})
+ find_library(TBB_LIBRARY_DBG NAMES ${TBB_LIBRARY_NAMES_DBG} HINTS ${TBB_LIB_SEARCH_PATH} ${TBB_PKGC_LIBRARY_DIRS})
+-make_library_set(TBB_LIBRARY)
++make_library_set(TBB)
+ 
+ findpkg_finish(TBB)
+ 
+@@ -120,7 +120,7 @@ get_debug_names(TBB_MALLOC_LIBRARY_NAMES)
+ find_path(TBB_MALLOC_INCLUDE_DIR NAMES tbb/tbb.h HINTS ${TBB_INCLUDE_DIR} ${TBB_INC_SEARCH_PATH} ${TBB_PKGC_INCLUDE_DIRS} )
+ find_library(TBB_MALLOC_LIBRARY_REL NAMES ${TBB_MALLOC_LIBRARY_NAMES} HINTS ${TBB_LIB_SEARCH_PATH} ${TBB_PKGC_LIBRARY_DIRS} )
+ find_library(TBB_MALLOC_LIBRARY_DBG NAMES ${TBB_MALLOC_LIBRARY_NAMES_DBG} HINTS ${TBB_LIB_SEARCH_PATH} ${TBB_PKGC_LIBRARY_DIRS} )
+-make_library_set(TBB_MALLOC_LIBRARY)
++make_library_set(TBB_MALLOC)
+ findpkg_finish(TBB_MALLOC)
+ 
+ # Look for TBB's malloc proxy package
+@@ -130,5 +130,5 @@ get_debug_names(TBB_MALLOC_PROXY_LIBRARY_NAMES)
+ find_path(TBB_MALLOC_PROXY_INCLUDE_DIR NAMES tbb/tbbmalloc_proxy.h HINTS ${TBB_INCLUDE_DIR} ${TBB_INC_SEARCH_PATH} ${TBB_PKGC_INCLUDE_DIRS})
+ find_library(TBB_MALLOC_PROXY_LIBRARY_REL NAMES ${TBB_MALLOC_PROXY_LIBRARY_NAMES} HINTS ${TBB_LIB_SEARCH_PATH} ${TBB_PKGC_LIBRARY_DIRS})
+ find_library(TBB_MALLOC_PROXY_LIBRARY_DBG NAMES ${TBB_MALLOC_PROXY_LIBRARY_NAMES_DBG} HINTS ${TBB_LIB_SEARCH_PATH} ${TBB_PKGC_LIBRARY_DIRS})
+-make_library_set(TBB_MALLOC_PROXY_LIBRARY)
++make_library_set(TBB_MALLOC_PROXY)
+ findpkg_finish(TBB_MALLOC_PROXY)
+diff --git a/CMake/Packages/FindZZip.cmake b/CMake/Packages/FindZZip.cmake
+index c112071..214d9e5 100644
+--- a/CMake/Packages/FindZZip.cmake
++++ b/CMake/Packages/FindZZip.cmake
+@@ -39,12 +39,12 @@ use_pkgconfig(ZZip_PKGC zziplib)
+ 
+ findpkg_framework(ZZip)
+ 
+-find_path(ZZip_INCLUDE_DIR NAMES zzip/zzip.h HINTS ${ZZip_INC_SEARCH_PATH} ${ZZip_PKGC_INCLUDE_DIRS})
++find_path(ZZip_INCLUDE_DIRS NAMES zzip/zzip.h HINTS ${ZZip_INC_SEARCH_PATH} ${ZZip_PKGC_INCLUDE_DIRS})
+ 
+ find_library(ZZip_LIBRARY_REL NAMES ${ZZip_LIBRARY_NAMES} HINTS ${ZZip_LIB_SEARCH_PATH} ${ZZip_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Release RelWithDebInfo MinSizeRel)
+ find_library(ZZip_LIBRARY_DBG NAMES ${ZZip_LIBRARY_NAMES_DBG} HINTS ${ZZip_LIB_SEARCH_PATH} ${ZZip_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Debug)
+ 
+-make_library_set(ZZip_LIBRARY)
++make_library_set(ZZip)
+ 
+ findpkg_finish(ZZip)
+ 
+diff --git a/CMake/Utils/FindPkgMacros.cmake b/CMake/Utils/FindPkgMacros.cmake
+index 53111e0..8dffbbc 100644
+--- a/CMake/Utils/FindPkgMacros.cmake
++++ b/CMake/Utils/FindPkgMacros.cmake
+@@ -79,15 +79,21 @@ endmacro (use_pkgconfig)
+ 
+ # Couple a set of release AND debug libraries (or frameworks)
+ macro(make_library_set PREFIX)
+-  if (${PREFIX}_FWK)
+-    set(${PREFIX} ${${PREFIX}_FWK})
+-  elseif (${PREFIX}_REL AND ${PREFIX}_DBG)
+-    set(${PREFIX} optimized ${${PREFIX}_REL} debug ${${PREFIX}_DBG})
+-  elseif (${PREFIX}_REL)
+-    set(${PREFIX} ${${PREFIX}_REL})
+-  elseif (${PREFIX}_DBG)
+-    set(${PREFIX} ${${PREFIX}_DBG})
+-  endif ()
++  include(${CMAKE_ROOT}/Modules/SelectLibraryConfigurations.cmake)
++  set(PREFIX_LIB "${PREFIX}_LIBRARY")
++  if (${PREFIX_LIB}_FWK)
++    set(${PREFIX_LIB} ${${PREFIX_LIB}_FWK})
++  elseif (${PREFIX_LIB}_REL AND ${PREFIX_LIB}_DBG)
++    set(${PREFIX_LIB}_RELEASE ${${PREFIX_LIB}_REL} CACHE STRING "")
++    set(${PREFIX_LIB}_DEBUG ${${PREFIX_LIB}_DBG} CACHE STRING "")
++    select_library_configurations(${PREFIX})
++  elseif (${PREFIX_LIB}_REL)
++    set(${PREFIX_LIB} ${${PREFIX_LIB}_REL})
++    set(${PREFIX_LIB}_RELEASE ${${PREFIX_LIB}_REL})
++  elseif (${PREFIX_LIB}_DBG)
++    set(${PREFIX_LIB} ${${PREFIX_LIB}_DBG})
++    set(${PREFIX_LIB}_DEBUG ${${PREFIX_LIB}_DBG})
++  endif()
+ endmacro(make_library_set)
+ 
+ # Generate debug names from given release names
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 48af55b..b18ac57 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -282,7 +282,7 @@ if (OGRE_BUILD_PLATFORM_APPLE_IOS)
+ 
+   # Set build variables
+   set(XCODE_ATTRIBUTE_SDKROOT iphoneos)
+-  if(CMAKE_GENERATOR STREQUAL "Unix Makefiles")
++  if(1)
+     execute_process(COMMAND xcodebuild -version -sdk "${XCODE_ATTRIBUTE_SDKROOT}" Path | head -n 1 OUTPUT_VARIABLE CMAKE_OSX_SYSROOT)
+     string(REGEX REPLACE "(\r?\n)+$" "" CMAKE_OSX_SYSROOT "${CMAKE_OSX_SYSROOT}")
+   else()
+diff --git a/OgreMain/CMakeLists.txt b/OgreMain/CMakeLists.txt
+index 0424ebb..b019269 100644
+--- a/OgreMain/CMakeLists.txt
++++ b/OgreMain/CMakeLists.txt
+@@ -434,8 +434,6 @@ if (APPLE)
+     set_target_properties(OgreMain PROPERTIES
+         LINK_FLAGS "-framework IOKit -framework Cocoa -framework Carbon -framework OpenGL -framework CoreVideo"
+     )
+-
+-    set(OGRE_OSX_BUILD_CONFIGURATION "$(PLATFORM_NAME)/$(CONFIGURATION)")
+   
+   	add_custom_command(TARGET OgreMain POST_BUILD
+ 		COMMAND mkdir ARGS -p ${OGRE_BINARY_DIR}/lib/${OGRE_OSX_BUILD_CONFIGURATION}/Ogre.framework/Headers/Threading

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ogre-next/vcpkg.json

@@ -0,0 +1,46 @@
+{
+  "name": "ogre-next",
+  "version": "2.3.0",
+  "description": "Ogre 2.1 & 2.2 - scene-oriented, flexible 3D engine written in C++",
+  "homepage": "https://github.com/OGRECave/ogre-next",
+  "license": "MIT",
+  "dependencies": [
+    "boost-date-time",
+    "boost-thread",
+    "freeimage",
+    "freetype",
+    "openvr",
+    "poco",
+    "rapidjson",
+    "sdl2",
+    "tbb",
+    "tinyxml",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    },
+    "zlib",
+    "zziplib"
+  ],
+  "features": {
+    "csharp": {
+      "description": "Build csharp bindings"
+    },
+    "d3d9": {
+      "description": "Build Direct3D9 RenderSystem"
+    },
+    "java": {
+      "description": "Build Java (JNI) bindings"
+    },
+    "python": {
+      "description": "Build Python bindings",
+      "dependencies": [
+        "python3"
+      ]
+    }
+  }
+}

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

@@ -0,0 +1,36 @@
+diff --git a/CMake/Dependencies.cmake b/CMake/Dependencies.cmake
+index 2ae0b66..e6c55cd 100644
+--- a/CMake/Dependencies.cmake
++++ b/CMake/Dependencies.cmake
+@@ -242,7 +242,7 @@ find_package(FreeImage)
+ macro_log_feature(FreeImage_FOUND "freeimage" "Support for commonly used graphics image formats" "http://freeimage.sourceforge.net" FALSE "" "")
+ 
+ # Find FreeType
+-find_package(Freetype)
++find_package(freetype CONFIG REQUIRED)
+ macro_log_feature(FREETYPE_FOUND "freetype" "Portable font engine" "http://www.freetype.org" FALSE "" "")
+ 
+ # Find X11
+@@ -310,11 +310,11 @@ find_package(SWIG 3.0.8 QUIET)
+ macro_log_feature(SWIG_FOUND "SWIG" "Language bindings (Python, Java, C#) for OGRE" "http://www.swig.org/" FALSE "" "")
+ 
+ # pugixml
+-find_package(pugixml QUIET)
++find_package(pugixml CONFIG REQUIRED)
+ macro_log_feature(pugixml_FOUND "pugixml" "Needed for XMLConverter and DotScene Plugin" "https://pugixml.org/" FALSE "" "")
+ 
+ # Assimp
+-find_package(ASSIMP QUIET)
++find_package(assimp CONFIG REQUIRED)
+ macro_log_feature(ASSIMP_FOUND "Assimp" "Needed for the AssimpLoader Plugin" "https://www.assimp.org/" FALSE "" "")
+ 
+ if(ASSIMP_FOUND)
+@@ -336,7 +336,7 @@ endif()
+ # Find sdl2
+ if(NOT ANDROID AND NOT EMSCRIPTEN)
+   # find script does not work in cross compilation environment
+-  find_package(SDL2 QUIET)
++  find_package(SDL2 CONFIG REQUIRED)
+   macro_log_feature(SDL2_FOUND "SDL2" "Simple DirectMedia Library needed for input handling in samples" "https://www.libsdl.org/" FALSE "" "")
+   if(SDL2_FOUND AND NOT TARGET SDL2::SDL2)
+     add_library(SDL2::SDL2 INTERFACE IMPORTED)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ogre/fix-findimgui.patch

@@ -0,0 +1,65 @@
+diff --git a/Components/Overlay/CMakeLists.txt b/Components/Overlay/CMakeLists.txt
+index df8f32af4..42be1e8f2 100644
+--- a/Components/Overlay/CMakeLists.txt
++++ b/Components/Overlay/CMakeLists.txt
+@@ -19,21 +19,8 @@ list(APPEND HEADER_FILES
+ file(GLOB SOURCE_FILES "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp")
+ 
+ if(OGRE_BUILD_COMPONENT_OVERLAY_IMGUI)
+-  set(IMGUI_DIR "${PROJECT_BINARY_DIR}/imgui-1.77" CACHE PATH "")
+-  if(NOT EXISTS ${IMGUI_DIR})
+-    message(STATUS "Dowloading imgui")
+-    file(DOWNLOAD
+-        https://github.com/ocornut/imgui/archive/v1.77.tar.gz
+-        ${PROJECT_BINARY_DIR}/imgui.tar.gz)
+-    execute_process(COMMAND ${CMAKE_COMMAND}
+-        -E tar xf imgui.tar.gz WORKING_DIRECTORY ${PROJECT_BINARY_DIR})
+-  endif()
+-  list(APPEND SOURCE_FILES
+-    ${IMGUI_DIR}/imgui.cpp
+-    ${IMGUI_DIR}/imgui_draw.cpp
+-    ${IMGUI_DIR}/imgui_widgets.cpp
+-    ${IMGUI_DIR}/imgui_demo.cpp
+-    ${IMGUI_DIR}/misc/freetype/imgui_freetype.cpp)
++    find_package(imgui CONFIG REQUIRED)
++    find_path(IMGUI_INCLUDE_DIR imgui.h)
+ else()
+     list(REMOVE_ITEM SOURCE_FILES "${CMAKE_CURRENT_SOURCE_DIR}/src/OgreImGuiOverlay.cpp")
+ endif()
+@@ -41,13 +28,17 @@ endif()
+ # setup target
+ add_library(OgreOverlay ${OGRE_COMP_LIB_TYPE} ${HEADER_FILES} ${SOURCE_FILES})
+ set_target_properties(OgreOverlay PROPERTIES VERSION ${OGRE_SOVERSION} SOVERSION ${OGRE_SOVERSION})
+-target_link_libraries(OgreOverlay PUBLIC OgreMain PRIVATE ${FREETYPE_LIBRARIES} ZLIB::ZLIB)
++if(OGRE_BUILD_COMPONENT_OVERLAY_IMGUI)
++    target_link_libraries(OgreOverlay PUBLIC OgreMain PRIVATE freetype ZLIB::ZLIB imgui::imgui)
++else()
++    target_link_libraries(OgreOverlay PUBLIC OgreMain PRIVATE freetype ZLIB::ZLIB)
++endif()
+ target_include_directories(OgreOverlay PUBLIC 
+   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+   $<INSTALL_INTERFACE:include/OGRE/Overlay>
+   PRIVATE ${FREETYPE_INCLUDE_DIRS})
+ 
+-if(OGRE_BUILD_COMPONENT_OVERLAY_IMGUI)
++if(0)
+   target_include_directories(OgreOverlay PUBLIC
+     PUBLIC "$<BUILD_INTERFACE:${IMGUI_DIR}>"
+     PRIVATE "$<BUILD_INTERFACE:${IMGUI_DIR}/misc/freetype>")
+diff --git "a/Components/Bites/CMakeLists.txt" "b/Components/Bites/CMakeLists.txt"
+index 5d58a8d74..fe41e4a28 100644
+--- "a/Components/Bites/CMakeLists.txt"
++++ "b/Components/Bites/CMakeLists.txt"
+@@ -152,6 +152,11 @@ elseif(NOT EMSCRIPTEN)
+   message(WARNING "SDL2 not found - no input handling and reduced window creation capabilites")
+ endif()
+ 
++if(OGRE_BUILD_COMPONENT_OVERLAY_IMGUI)
++  find_package(imgui CONFIG REQUIRED)
++  target_link_libraries(OgreBites PRIVATE imgui::imgui)
++endif()
++
+ generate_export_header(OgreBites 
+     EXPORT_MACRO_NAME _OgreBitesExport
+     EXPORT_FILE_NAME ${PROJECT_BINARY_DIR}/include/OgreBitesPrerequisites.h)
+

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

@@ -0,0 +1,132 @@
+if (EXISTS "${CURRENT_INSTALLED_DIR}/Media/HLMS/Blendfunctions_piece_fs.glslt")
+    message(FATAL_ERROR "FATAL ERROR: ogre-next and ogre are incompatible.")
+endif()
+
+if(NOT VCPKG_TARGET_IS_WINDOWS)
+    message("${PORT} currently requires the following library from the system package manager:\n    Xaw\n\nIt can be installed on Ubuntu systems via apt-get install libxaw7-dev")
+endif()
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO OGRECave/ogre
+    REF 7d0c8181ac43ad20bdba326abbd3deeddf310f0b #v1.12.9
+    SHA512 f223075f49a2465cd5070f5efa796aa715f3ea2fefd578e4ec0a11be2fd3330922849ed804e1df004209abafaa7b24ff42432dd79f336a56063e3cf38ae0e8c9
+    HEAD_REF master
+    PATCHES
+        toolchain_fixes.patch
+        fix-dependency.patch
+        fix-findimgui.patch
+        disable-dependency-qt.patch
+)
+
+file(REMOVE "${SOURCE_PATH}/CMake/Packages/FindOpenEXR.cmake")
+
+if (VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    set(OGRE_STATIC ON)
+else()
+    set(OGRE_STATIC OFF)
+endif()
+
+# Configure features
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+  FEATURES
+    d3d9     OGRE_BUILD_RENDERSYSTEM_D3D9
+    java     OGRE_BUILD_COMPONENT_JAVA
+    python   OGRE_BUILD_COMPONENT_PYTHON
+    csharp   OGRE_BUILD_COMPONENT_CSHARP
+    overlay  OGRE_BUILD_COMPONENT_OVERLAY
+    zziplib  OGRE_CONFIG_ENABLE_ZIP
+    strict   OGRE_RESOURCEMANAGER_STRICT
+)
+
+# OGRE_RESOURCEMANAGER_STRICT need to be 0 for OFF and 1 for ON, because it is used 'as is' in sources
+string(REPLACE "OGRE_RESOURCEMANAGER_STRICT=ON" "OGRE_RESOURCEMANAGER_STRICT=1" FEATURE_OPTIONS "${FEATURE_OPTIONS}")
+string(REPLACE "OGRE_RESOURCEMANAGER_STRICT=OFF" "OGRE_RESOURCEMANAGER_STRICT=0" FEATURE_OPTIONS "${FEATURE_OPTIONS}")
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        ${FEATURE_OPTIONS}
+        -DOGRE_BUILD_DEPENDENCIES=OFF
+        -DOGRE_BUILD_SAMPLES=OFF
+        -DOGRE_BUILD_TESTS=OFF
+        -DOGRE_BUILD_TOOLS=OFF
+        -DOGRE_BUILD_MSVC_MP=ON
+        -DOGRE_BUILD_MSVC_ZM=ON
+        -DOGRE_INSTALL_DEPENDENCIES=OFF
+        -DOGRE_INSTALL_DOCS=OFF
+        -DOGRE_INSTALL_PDB=OFF
+        -DOGRE_INSTALL_SAMPLES=OFF
+        -DOGRE_INSTALL_TOOLS=OFF
+        -DOGRE_INSTALL_CMAKE=ON
+        -DOGRE_INSTALL_VSPROPS=OFF
+        -DOGRE_STATIC=${OGRE_STATIC}
+        -DOGRE_CONFIG_THREAD_PROVIDER=std
+        -DOGRE_BUILD_RENDERSYSTEM_D3D11=ON
+        -DOGRE_BUILD_RENDERSYSTEM_GL=ON
+        -DOGRE_BUILD_RENDERSYSTEM_GL3PLUS=ON
+        -DOGRE_BUILD_RENDERSYSTEM_GLES=OFF
+        -DOGRE_BUILD_RENDERSYSTEM_GLES2=OFF
+        -DFREETYPE_FOUND=ON
+        -DOGRE_CMAKE_DIR=share/ogre
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup()
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/share)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+
+file(GLOB REL_CFGS ${CURRENT_PACKAGES_DIR}/bin/*.cfg)
+if(REL_CFGS)
+  file(COPY ${REL_CFGS} DESTINATION ${CURRENT_PACKAGES_DIR}/lib)
+  file(REMOVE ${REL_CFGS})
+endif()
+
+file(GLOB DBG_CFGS ${CURRENT_PACKAGES_DIR}/debug/bin/*.cfg)
+if(DBG_CFGS)
+  file(COPY ${DBG_CFGS} DESTINATION ${CURRENT_PACKAGES_DIR}/debug/lib)
+  file(REMOVE ${DBG_CFGS})
+endif()
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+    file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/bin ${CURRENT_PACKAGES_DIR}/debug/bin)
+endif()
+
+#Remove OgreMain*.lib from lib/ folder, because autolink would complain, since it defines a main symbol
+#manual-link subfolder is here to the rescue!
+if(VCPKG_TARGET_IS_WINDOWS)
+    file(MAKE_DIRECTORY ${CURRENT_PACKAGES_DIR}/lib/manual-link)
+    if(VCPKG_LIBRARY_LINKAGE STREQUAL "dynamic")
+        file(RENAME ${CURRENT_PACKAGES_DIR}/lib/OgreMain.lib ${CURRENT_PACKAGES_DIR}/lib/manual-link/OgreMain.lib)
+    else()
+        file(RENAME ${CURRENT_PACKAGES_DIR}/lib/OgreMainStatic.lib ${CURRENT_PACKAGES_DIR}/lib/manual-link/OgreMainStatic.lib)
+    endif()
+    if(NOT VCPKG_BUILD_TYPE)
+        file(MAKE_DIRECTORY ${CURRENT_PACKAGES_DIR}/debug/lib/manual-link)
+        if(VCPKG_LIBRARY_LINKAGE STREQUAL "dynamic")
+            file(RENAME ${CURRENT_PACKAGES_DIR}/debug/lib/OgreMain_d.lib ${CURRENT_PACKAGES_DIR}/debug/lib/manual-link/OgreMain_d.lib)
+        else()
+            file(RENAME ${CURRENT_PACKAGES_DIR}/debug/lib/OgreMainStatic_d.lib ${CURRENT_PACKAGES_DIR}/debug/lib/manual-link/OgreMainStatic_d.lib)
+        endif()
+    endif()
+
+    file(GLOB SHARE_FILES ${CURRENT_PACKAGES_DIR}/share/ogre/*.cmake)
+    foreach(SHARE_FILE ${SHARE_FILES})
+        file(READ "${SHARE_FILE}" _contents)
+        string(REPLACE "lib/OgreMain" "lib/manual-link/OgreMain" _contents "${_contents}")
+        file(WRITE "${SHARE_FILE}" "${_contents}")
+    endforeach()
+endif()
+
+file(GLOB share_cfgs ${CURRENT_PACKAGES_DIR}/share/OGRE/*.cfg)
+foreach(file ${share_cfgs})
+    vcpkg_replace_string("${file}" "${CURRENT_PACKAGES_DIR}" "../..")
+endforeach()
+
+# Handle copyright
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+
+vcpkg_copy_pdbs()
+vcpkg_fixup_pkgconfig()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ogre/toolchain_fixes.patch

@@ -0,0 +1,265 @@
+diff --git a/CMake/CMakeLists.txt b/CMake/CMakeLists.txt
+index a7a3796..2e21403 100644
+--- a/CMake/CMakeLists.txt
++++ b/CMake/CMakeLists.txt
+@@ -13,10 +13,12 @@
+ # directory, but can also be used for custom projects.
+ #############################################################
+ 
+-if(WIN32 OR APPLE)
+-	set(OGRE_CMAKE_DIR "CMake")
+-else()
+-	set(OGRE_CMAKE_DIR "${OGRE_LIB_DIRECTORY}/OGRE/cmake")
++if(NOT DEFINED OGRE_CMAKE_DIR)
++  if(WIN32 OR APPLE)
++    set(OGRE_CMAKE_DIR "CMake")
++  else()
++    set(OGRE_CMAKE_DIR "${OGRE_LIB_DIRECTORY}/OGRE/cmake")
++  endif()
+ endif()
+ 
+ set(INST_FILES Utils/FindPkgMacros.cmake) 
+diff --git a/CMake/InstallResources.cmake b/CMake/InstallResources.cmake
+index 06a055b..09d10bd 100644
+--- a/CMake/InstallResources.cmake
++++ b/CMake/InstallResources.cmake
+@@ -204,10 +204,12 @@ endif ()
+ # Create the CMake package files
+ include(CMakePackageConfigHelpers)
+ 
+-if(WIN32 OR APPLE)
+-  set(OGRE_CMAKE_DIR "CMake")
+-else()
+-  set(OGRE_CMAKE_DIR "${OGRE_LIB_DIRECTORY}/OGRE/cmake")
++if(NOT DEFINED OGRE_CMAKE_DIR)
++  if(WIN32 OR APPLE)
++    set(OGRE_CMAKE_DIR "CMake")
++  else()
++    set(OGRE_CMAKE_DIR "${OGRE_LIB_DIRECTORY}/OGRE/cmake")
++  endif()
+ endif()
+ if(WIN32)
+   set(OGRE_PLUGIN_DIR_CMAKE "bin")
+diff --git a/CMake/Packages/FindCg.cmake b/CMake/Packages/FindCg.cmake
+index 4501cf9..7eb57c3 100644
+--- a/CMake/Packages/FindCg.cmake
++++ b/CMake/Packages/FindCg.cmake
+@@ -56,7 +56,7 @@ endif()
+ 
+ find_library(Cg_LIBRARY_REL NAMES ${Cg_LIBRARY_NAMES} HINTS ${Cg_LIB_SEARCH_PATH} ${Cg_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Release RelWithDebInfo MinSizeRel)
+ find_library(Cg_LIBRARY_DBG NAMES ${Cg_LIBRARY_NAMES_DBG} HINTS ${Cg_LIB_SEARCH_PATH} ${Cg_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Debug)
+-make_library_set(Cg_LIBRARY)
++make_library_set(Cg)
+ 
+ if (WIN32)
+ 	if (CMAKE_CL_64)
+diff --git a/CMake/Packages/FindFreeImage.cmake b/CMake/Packages/FindFreeImage.cmake
+index 7c89ec5..d8314f0 100644
+--- a/CMake/Packages/FindFreeImage.cmake
++++ b/CMake/Packages/FindFreeImage.cmake
+@@ -43,7 +43,7 @@ find_path(FreeImage_INCLUDE_DIR NAMES FreeImage.h HINTS ${FreeImage_INC_SEARCH_P
+ find_library(FreeImage_LIBRARY_REL NAMES ${FreeImage_LIBRARY_NAMES} HINTS ${FreeImage_LIB_SEARCH_PATH} ${FreeImage_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Release RelWithDebInfo MinSizeRel)
+ find_library(FreeImage_LIBRARY_DBG NAMES ${FreeImage_LIBRARY_NAMES_DBG} HINTS ${FreeImage_LIB_SEARCH_PATH} ${FreeImage_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Debug)
+ 
+-make_library_set(FreeImage_LIBRARY)
++make_library_set(FreeImage)
+ 
+ findpkg_finish(FreeImage)
+ 
+diff --git a/CMake/Packages/FindGLSLOptimizer.cmake b/CMake/Packages/FindGLSLOptimizer.cmake
+index dd4b179..6f158fc 100644
+--- a/CMake/Packages/FindGLSLOptimizer.cmake
++++ b/CMake/Packages/FindGLSLOptimizer.cmake
+@@ -38,7 +38,7 @@ findpkg_framework(GLSL_Optimizer)
+ find_path(GLSL_Optimizer_INCLUDE_DIR NAMES glsl_optimizer.h HINTS ${GLSL_Optimizer_INC_SEARCH_PATH} ${GLSL_Optimizer_PKGC_INCLUDE_DIRS} PATH_SUFFIXES GLSL_Optimizer)
+ find_library(GLSL_Optimizer_LIBRARY_REL NAMES ${GLSL_Optimizer_LIBRARY_NAMES} HINTS ${GLSL_Optimizer_LIB_SEARCH_PATH} ${GLSL_Optimizer_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Release RelWithDebInfo MinSizeRel)
+ find_library(GLSL_Optimizer_LIBRARY_DBG NAMES ${GLSL_Optimizer_LIBRARY_NAMES_DBG} HINTS ${GLSL_Optimizer_LIB_SEARCH_PATH} ${GLSL_Optimizer_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Debug)
+-make_library_set(GLSL_Optimizer_LIBRARY)
++make_library_set(GLSL_Optimizer)
+ 
+ findpkg_finish(GLSL_Optimizer)
+ add_parent_dir(GLSL_Optimizer_INCLUDE_DIRS GLSL_Optimizer_INCLUDE_DIR)
+diff --git a/CMake/Packages/FindHLSL2GLSL.cmake b/CMake/Packages/FindHLSL2GLSL.cmake
+index 7125895..13a306f 100644
+--- a/CMake/Packages/FindHLSL2GLSL.cmake
++++ b/CMake/Packages/FindHLSL2GLSL.cmake
+@@ -38,7 +38,7 @@ findpkg_framework(HLSL2GLSL)
+ find_path(HLSL2GLSL_INCLUDE_DIR NAMES hlsl2glsl.h HINTS ${HLSL2GLSL_INC_SEARCH_PATH} ${HLSL2GLSL_PKGC_INCLUDE_DIRS} PATH_SUFFIXES HLSL2GLSL)
+ find_library(HLSL2GLSL_LIBRARY_REL NAMES ${HLSL2GLSL_LIBRARY_NAMES} HINTS ${HLSL2GLSL_LIB_SEARCH_PATH} ${HLSL2GLSL_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Release RelWithDebInfo MinSizeRel)
+ find_library(HLSL2GLSL_LIBRARY_DBG NAMES ${HLSL2GLSL_LIBRARY_NAMES_DBG} HINTS ${HLSL2GLSL_LIB_SEARCH_PATH} ${HLSL2GLSL_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Debug)
+-make_library_set(HLSL2GLSL_LIBRARY)
++make_library_set(HLSL2GLSL)
+ 
+ findpkg_finish(HLSL2GLSL)
+ add_parent_dir(HLSL2GLSL_INCLUDE_DIRS HLSL2GLSL_INCLUDE_DIR)
+diff --git a/CMake/Packages/FindNVAPI.cmake b/CMake/Packages/FindNVAPI.cmake
+index 95c70cd..893ce01 100644
+--- a/CMake/Packages/FindNVAPI.cmake
++++ b/CMake/Packages/FindNVAPI.cmake
+@@ -44,7 +44,7 @@ findpkg_framework(NVAPI)
+ find_path(NVAPI_INCLUDE_DIR NAMES nvapi.h HINTS ${NVAPI_FRAMEWORK_INCLUDES} ${NVAPI_INC_SEARCH_PATH} ${NVAPI_PKGC_INCLUDE_DIRS} PATH_SUFFIXES NVAPI)
+ find_library(NVAPI_LIBRARY_REL NAMES ${NVAPI_LIBRARY_NAMES} HINTS ${NVAPI_LIB_SEARCH_PATH} ${NVAPI_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" release relwithdebinfo minsizerel)
+ find_library(NVAPI_LIBRARY_DBG NAMES ${NVAPI_LIBRARY_NAMES_DBG} HINTS ${NVAPI_LIB_SEARCH_PATH} ${NVAPI_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" debug)
+-make_library_set(NVAPI_LIBRARY)
++make_library_set(NVAPI)
+ 
+ findpkg_finish(NVAPI)
+ add_parent_dir(NVAPI_INCLUDE_DIRS NVAPI_INCLUDE_DIR)
+
+diff --git a/CMake/Packages/FindPOCO.cmake b/CMake/Packages/FindPOCO.cmake
+index 6b6d7fa..3667b8b 100644
+--- a/CMake/Packages/FindPOCO.cmake
++++ b/CMake/Packages/FindPOCO.cmake
+@@ -50,7 +50,7 @@ findpkg_framework(POCO)
+ find_path(POCO_INCLUDE_DIR NAMES Poco/Foundation.h HINTS ${POCO_INC_SEARCH_PATH} ${POCO_PKGC_INCLUDE_DIRS} PATH_SUFFIXES Foundation/include)
+ find_library(POCO_LIBRARY_REL NAMES ${POCO_LIBRARY_NAMES} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+ find_library(POCO_LIBRARY_DBG NAMES ${POCO_LIBRARY_NAMES_DBG} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+-make_library_set(POCO_LIBRARY)
++make_library_set(POCO)
+ 
+ findpkg_finish(POCO)
+ 
+@@ -66,7 +66,7 @@ get_debug_names(POCO_Util_LIBRARY_NAMES)
+ find_path(POCO_Util_INCLUDE_DIR NAMES Poco/Util/Util.h HINTS ${POCO_INCLUDE_DIR} ${POCO_INC_SEARCH_PATH} ${POCO_PKGC_INCLUDE_DIRS} PATH_SUFFIXES Util/include)
+ find_library(POCO_Util_LIBRARY_REL NAMES ${POCO_Util_LIBRARY_NAMES} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+ find_library(POCO_Util_LIBRARY_DBG NAMES ${POCO_Util_LIBRARY_NAMES_DBG} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+-make_library_set(POCO_Util_LIBRARY)
++make_library_set(POCO_Util)
+ findpkg_finish(POCO_Util)
+ 
+ # Look for Poco's Net package
+@@ -76,7 +76,7 @@ get_debug_names(POCO_Net_LIBRARY_NAMES)
+ find_path(POCO_Net_INCLUDE_DIR NAMES Poco/Net/Net.h HINTS ${POCO_INCLUDE_DIR} ${POCO_INC_SEARCH_PATH} ${POCO_PKGC_INCLUDE_DIRS} PATH_SUFFIXES Net/include)
+ find_library(POCO_Net_LIBRARY_REL NAMES ${POCO_Net_LIBRARY_NAMES} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+ find_library(POCO_Net_LIBRARY_DBG NAMES ${POCO_Net_LIBRARY_NAMES_DBG} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+-make_library_set(POCO_Net_LIBRARY)
++make_library_set(POCO_Net)
+ findpkg_finish(POCO_Net)
+ 
+ # Look for Poco's NetSSL package
+@@ -86,7 +86,7 @@ get_debug_names(POCO_NetSSL_LIBRARY_NAMES)
+ find_path(POCO_NetSSL_INCLUDE_DIR NAMES Poco/Net/NetSSL.h HINTS ${POCO_INCLUDE_DIR} ${POCO_INC_SEARCH_PATH} ${POCO_PKGC_INCLUDE_DIRS} PATH_SUFFIXES NetSSL/include)
+ find_library(POCO_NetSSL_LIBRARY_REL NAMES ${POCO_NetSSL_LIBRARY_NAMES} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+ find_library(POCO_NetSSL_LIBRARY_DBG NAMES ${POCO_NetSSL_LIBRARY_NAMES_DBG} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+-make_library_set(POCO_NetSSL_LIBRARY)
++make_library_set(POCO_NetSSL)
+ findpkg_finish(POCO_NetSSL)
+ 
+ # Look for Poco's XML package
+@@ -96,6 +96,6 @@ get_debug_names(POCO_XML_LIBRARY_NAMES)
+ find_path(POCO_XML_INCLUDE_DIR NAMES Poco/XML/XML.h HINTS ${POCO_INCLUDE_DIR} ${POCO_INC_SEARCH_PATH} ${POCO_PKGC_INCLUDE_DIRS} PATH_SUFFIXES XML/include)
+ find_library(POCO_XML_LIBRARY_REL NAMES ${POCO_XML_LIBRARY_NAMES} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+ find_library(POCO_XML_LIBRARY_DBG NAMES ${POCO_XML_LIBRARY_NAMES_DBG} HINTS ${POCO_LIB_SEARCH_PATH} ${POCO_PKGC_LIBRARY_DIRS} PATH_SUFFIXES Linux/i686)
+-make_library_set(POCO_XML_LIBRARY)
++make_library_set(POCO_XML)
+ findpkg_finish(POCO_XML)
+ 
+diff --git a/CMake/Packages/FindTBB.cmake b/CMake/Packages/FindTBB.cmake
+index 0c48510..c121966 100644
+--- a/CMake/Packages/FindTBB.cmake
++++ b/CMake/Packages/FindTBB.cmake
+@@ -104,7 +104,7 @@ findpkg_framework(TBB)
+ find_path(TBB_INCLUDE_DIR NAMES tbb/tbb.h HINTS ${TBB_INC_SEARCH_PATH} ${TBB_PKGC_INCLUDE_DIRS})
+ find_library(TBB_LIBRARY_REL NAMES ${TBB_LIBRARY_NAMES} HINTS ${TBB_LIB_SEARCH_PATH} ${TBB_PKGC_LIBRARY_DIRS})
+ find_library(TBB_LIBRARY_DBG NAMES ${TBB_LIBRARY_NAMES_DBG} HINTS ${TBB_LIB_SEARCH_PATH} ${TBB_PKGC_LIBRARY_DIRS})
+-make_library_set(TBB_LIBRARY)
++make_library_set(TBB)
+ 
+ findpkg_finish(TBB)
+ 
+@@ -120,7 +120,7 @@ get_debug_names(TBB_MALLOC_LIBRARY_NAMES)
+ find_path(TBB_MALLOC_INCLUDE_DIR NAMES tbb/tbb.h HINTS ${TBB_INCLUDE_DIR} ${TBB_INC_SEARCH_PATH} ${TBB_PKGC_INCLUDE_DIRS} )
+ find_library(TBB_MALLOC_LIBRARY_REL NAMES ${TBB_MALLOC_LIBRARY_NAMES} HINTS ${TBB_LIB_SEARCH_PATH} ${TBB_PKGC_LIBRARY_DIRS} )
+ find_library(TBB_MALLOC_LIBRARY_DBG NAMES ${TBB_MALLOC_LIBRARY_NAMES_DBG} HINTS ${TBB_LIB_SEARCH_PATH} ${TBB_PKGC_LIBRARY_DIRS} )
+-make_library_set(TBB_MALLOC_LIBRARY)
++make_library_set(TBB_MALLOC)
+ findpkg_finish(TBB_MALLOC)
+ 
+ # Look for TBB's malloc proxy package
+@@ -130,5 +130,5 @@ get_debug_names(TBB_MALLOC_PROXY_LIBRARY_NAMES)
+ find_path(TBB_MALLOC_PROXY_INCLUDE_DIR NAMES tbb/tbbmalloc_proxy.h HINTS ${TBB_INCLUDE_DIR} ${TBB_INC_SEARCH_PATH} ${TBB_PKGC_INCLUDE_DIRS})
+ find_library(TBB_MALLOC_PROXY_LIBRARY_REL NAMES ${TBB_MALLOC_PROXY_LIBRARY_NAMES} HINTS ${TBB_LIB_SEARCH_PATH} ${TBB_PKGC_LIBRARY_DIRS})
+ find_library(TBB_MALLOC_PROXY_LIBRARY_DBG NAMES ${TBB_MALLOC_PROXY_LIBRARY_NAMES_DBG} HINTS ${TBB_LIB_SEARCH_PATH} ${TBB_PKGC_LIBRARY_DIRS})
+-make_library_set(TBB_MALLOC_PROXY_LIBRARY)
++make_library_set(TBB_MALLOC_PROXY)
+ findpkg_finish(TBB_MALLOC_PROXY)
+diff --git a/CMake/Packages/FindZZip.cmake b/CMake/Packages/FindZZip.cmake
+index e97951e..54c2567 100644
+--- a/CMake/Packages/FindZZip.cmake
++++ b/CMake/Packages/FindZZip.cmake
+@@ -39,12 +39,12 @@ use_pkgconfig(ZZip_PKGC zziplib)
+ 
+ findpkg_framework(ZZip)
+ 
+-find_path(ZZip_INCLUDE_DIR NAMES zzip/zzip.h HINTS ${ZZip_INC_SEARCH_PATH} ${ZZip_PKGC_INCLUDE_DIRS})
++find_path(ZZip_INCLUDE_DIRS NAMES zzip/zzip.h HINTS ${ZZip_INC_SEARCH_PATH} ${ZZip_PKGC_INCLUDE_DIRS})
+ 
+ find_library(ZZip_LIBRARY_REL NAMES ${ZZip_LIBRARY_NAMES} HINTS ${ZZip_LIB_SEARCH_PATH} ${ZZip_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Release RelWithDebInfo MinSizeRel)
+ find_library(ZZip_LIBRARY_DBG NAMES ${ZZip_LIBRARY_NAMES_DBG} HINTS ${ZZip_LIB_SEARCH_PATH} ${ZZip_PKGC_LIBRARY_DIRS} PATH_SUFFIXES "" Debug)
+ 
+-make_library_set(ZZip_LIBRARY)
++make_library_set(ZZip)
+ 
+ findpkg_finish(ZZip)
+ 
+diff --git a/CMake/Utils/FindPkgMacros.cmake b/CMake/Utils/FindPkgMacros.cmake
+index 374f84b..dc7066d 100644
+--- a/CMake/Utils/FindPkgMacros.cmake
++++ b/CMake/Utils/FindPkgMacros.cmake
+@@ -79,15 +79,21 @@ endmacro (use_pkgconfig)
+ 
+ # Couple a set of release AND debug libraries (or frameworks)
+ macro(make_library_set PREFIX)
+-  if (${PREFIX}_FWK)
+-    set(${PREFIX} ${${PREFIX}_FWK})
+-  elseif (${PREFIX}_REL AND ${PREFIX}_DBG)
+-    set(${PREFIX} optimized ${${PREFIX}_REL} debug ${${PREFIX}_DBG})
+-  elseif (${PREFIX}_REL)
+-    set(${PREFIX} ${${PREFIX}_REL})
+-  elseif (${PREFIX}_DBG)
+-    set(${PREFIX} ${${PREFIX}_DBG})
+-  endif ()
++  include(${CMAKE_ROOT}/Modules/SelectLibraryConfigurations.cmake)
++  set(PREFIX_LIB "${PREFIX}_LIBRARY")
++  if (${PREFIX_LIB}_FWK)
++    set(${PREFIX_LIB} ${${PREFIX_LIB}_FWK})
++  elseif (${PREFIX_LIB}_REL AND ${PREFIX_LIB}_DBG)
++    set(${PREFIX_LIB}_RELEASE ${${PREFIX_LIB}_REL} CACHE STRING "")
++    set(${PREFIX_LIB}_DEBUG ${${PREFIX_LIB}_DBG} CACHE STRING "")
++    select_library_configurations(${PREFIX})
++  elseif (${PREFIX_LIB}_REL)
++    set(${PREFIX_LIB} ${${PREFIX_LIB}_REL})
++    set(${PREFIX_LIB}_RELEASE ${${PREFIX_LIB}_REL})
++  elseif (${PREFIX_LIB}_DBG)
++    set(${PREFIX_LIB} ${${PREFIX_LIB}_DBG})
++    set(${PREFIX_LIB}_DEBUG ${${PREFIX_LIB}_DBG})
++  endif()
+ endmacro(make_library_set)
+ 
+ # Generate debug names from given release names
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1602572..9fddbe7 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -271,7 +271,7 @@ elseif(EMSCRIPTEN)
+ elseif (APPLE AND NOT APPLE_IOS)
+ 
+   set(XCODE_ATTRIBUTE_SDKROOT macosx)
+-  if(CMAKE_GENERATOR STREQUAL "Unix Makefiles")
++  if(1)
+     execute_process(COMMAND xcodebuild -version -sdk "${XCODE_ATTRIBUTE_SDKROOT}" Path | head -n 1 OUTPUT_VARIABLE CMAKE_OSX_SYSROOT)
+     string(REGEX REPLACE "(\r?\n)+$" "" CMAKE_OSX_SYSROOT "${CMAKE_OSX_SYSROOT}")
+   else()
+diff --git a/PlugIns/EXRCodec/CMakeLists.txt b/PlugIns/EXRCodec/CMakeLists.txt
+index e9c936a..bb8747e 100644
+--- a/PlugIns/EXRCodec/CMakeLists.txt
++++ b/PlugIns/EXRCodec/CMakeLists.txt
+@@ -16,7 +16,7 @@ target_link_libraries(Codec_EXR OgreMain ${OPENEXR_LIBRARIES})
+ target_include_directories(Codec_EXR PUBLIC 
+     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+     $<INSTALL_INTERFACE:include/OGRE/Plugins/EXRCodec>)
+-target_include_directories(Codec_EXR SYSTEM PRIVATE  "${OPENEXR_INCLUDE_DIR}/OpenEXR")
++target_include_directories(Codec_EXR SYSTEM PRIVATE  "${OPENEXR_INCLUDE_DIR}")
+ 
+ ogre_config_framework(Codec_EXR)
+ ogre_config_plugin(Codec_EXR)

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

@@ -0,0 +1,77 @@
+{
+  "name": "ogre",
+  "version": "1.12.9",
+  "port-version": 7,
+  "description": "3D Object-Oriented Graphics Rendering Engine",
+  "homepage": "https://github.com/OGRECave/ogre",
+  "license": "MIT",
+  "dependencies": [
+    "pugixml",
+    "sdl2",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    },
+    "zlib"
+  ],
+  "default-features": [
+    "assimp",
+    "freeimage",
+    "overlay",
+    "zziplib"
+  ],
+  "features": {
+    "assimp": {
+      "description": "Use assimp",
+      "dependencies": [
+        "assimp"
+      ]
+    },
+    "csharp": {
+      "description": "Build csharp bindings"
+    },
+    "d3d9": {
+      "description": "Build Direct3D9 RenderSystem"
+    },
+    "freeimage": {
+      "description": "Build with FreeImage support",
+      "dependencies": [
+        "freeimage"
+      ]
+    },
+    "java": {
+      "description": "Build Java (JNI) bindings"
+    },
+    "overlay": {
+      "description": "Build overlay component",
+      "dependencies": [
+        "freetype",
+        {
+          "name": "imgui",
+          "features": [
+            "freetype"
+          ]
+        }
+      ]
+    },
+    "python": {
+      "description": "Build Python bindings",
+      "dependencies": [
+        "python3"
+      ]
+    },
+    "strict": {
+      "description": "Force Ogre resource manager to be strict with group names and resource names"
+    },
+    "zziplib": {
+      "description": "Build with zziplib support (GPL)",
+      "dependencies": [
+        "zziplib"
+      ]
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ois/0001_install_pkgconfig_win32.patch

@@ -0,0 +1,29 @@
+diff -Naur a/CMakeLists.txt b/CMakeLists.txt
+--- a/CMakeLists.txt	2021-05-14 03:09:42.000000000 +0800
++++ b/CMakeLists.txt	2022-03-08 12:48:17.012589000 +0800
+@@ -255,7 +255,12 @@
+   install(FILES $<TARGET_PDB_FILE:OIS> DESTINATION bin OPTIONAL)
+ endif(MSVC AND BUILD_SHARED_LIBS)
+ 
+-if(UNIX)
+-    configure_file(${CMAKE_CURRENT_SOURCE_DIR}/OIS.pc.in ${CMAKE_BINARY_DIR}/OIS.pc @ONLY)
+-    install(FILES ${CMAKE_BINARY_DIR}/OIS.pc DESTINATION ${OIS_LIB_DIRECTORY}/pkgconfig)
++if (CMAKE_DEBUG_POSTFIX AND CMAKE_BUILD_TYPE STREQUAL "Debug")
++    set(OIS_POSTFIX ${CMAKE_DEBUG_POSTFIX})
++else()
++    set(OIS_POSTFIX "")
+ endif()
++
++configure_file(${CMAKE_CURRENT_SOURCE_DIR}/OIS.pc.in ${CMAKE_BINARY_DIR}/OIS.pc @ONLY)
++install(FILES ${CMAKE_BINARY_DIR}/OIS.pc DESTINATION ${OIS_LIB_DIRECTORY}/pkgconfig)
++
+diff -Naur a/OIS.pc.in b/OIS.pc.in
+--- a/OIS.pc.in	2021-05-14 03:09:42.000000000 +0800
++++ b/OIS.pc.in	2022-03-08 12:48:33.599696300 +0800
+@@ -6,5 +6,5 @@
+ Name: OIS
+ Description: Cross platform C++ Input Framework
+ Version: @OIS_VERSION@
+-Libs: -L${libdir} -lOIS
++Libs: -L${libdir} -lOIS@OIS_POSTFIX@
+ Cflags: -I${includedir} -I${includedir}/ois

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

@@ -0,0 +1,28 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO wgois/OIS
+    REF v1.5.1
+    SHA512 20598aef999a70900cb7f75ffaf62059acf8e811822971cb21986b5d25d28dacb79e4b4cf4770c70e00d3c55cdd01ef3e68a77c2dd148677784fc4df38891340
+    HEAD_REF master
+    PATCHES
+        0001_install_pkgconfig_win32.patch
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    DISABLE_PARALLEL_CONFIGURE
+)
+
+vcpkg_cmake_install()
+
+vcpkg_fixup_pkgconfig()
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL static)
+	file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+endif()
+
+# Include files should not be duplicated into the /debug/include directory
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+# Handle copyright
+file(INSTALL "${SOURCE_PATH}/LICENSE.md" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,15 @@
+{
+  "name": "ois",
+  "version": "1.5.1",
+  "port-version": 1,
+  "description": "Cross Platform Object Oriented Input Lib System. Meant to be very robust and compatible with many systems and operating systems.",
+  "homepage": "https://wgois.github.io/OIS/",
+  "license": "Zlib",
+  "supports": "!(arm | arm64 | uwp)",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ompl/0001_Export_targets.patch

@@ -0,0 +1,27 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a9bb05f..31fab8c 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -215,6 +215,10 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/omplConfig.cmake
+     ${CMAKE_CURRENT_BINARY_DIR}/omplConfigVersion.cmake
+     DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake
+     COMPONENT ompl)
++install(EXPORT ompl
++    DESTINATION "share/ompl"
++    FILE ompl-targets.cmake
++)
+ 
+ # script to install ompl on Ubuntu
+ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/install-ompl-ubuntu.sh.in"
+diff --git a/src/ompl/CMakeLists.txt b/src/ompl/CMakeLists.txt
+index 9ea130e..6dda4df 100644
+--- a/src/ompl/CMakeLists.txt
++++ b/src/ompl/CMakeLists.txt
+@@ -83,6 +83,7 @@ endif (MSVC)
+ 
+ # install the library
+ install(TARGETS ompl
++    EXPORT ompl
+     DESTINATION ${CMAKE_INSTALL_LIBDIR}
+     COMPONENT ompl)
+ if (NOT MSVC)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ompl/0002_Fix_config.patch

@@ -0,0 +1,40 @@
+diff --git a/omplConfig.cmake.in b/omplConfig.cmake.in
+index 465de25d..d1e91929 100644
+--- a/omplConfig.cmake.in
++++ b/omplConfig.cmake.in
+@@ -18,8 +18,11 @@ set(OMPL_MAJOR_VERSION @PROJECT_VERSION_MAJOR@)
+ set(OMPL_MINOR_VERSION @PROJECT_VERSION_MINOR@)
+ set(OMPL_PATCH_VERSION @PROJECT_VERSION_PATCH@)
+ 
++include(CMakeFindDependencyMacro)
++find_dependency(Boost 1.58 COMPONENTS serialization filesystem system program_options)
++find_dependency(Eigen3)
+ set_and_check(OMPL_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
+-set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIR};@Boost_INCLUDE_DIR@;@EIGEN3_INCLUDE_DIR@")
++set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIR};${Boost_INCLUDE_DIR};${EIGEN3_INCLUDE_DIR}")
+ foreach(_dir @FLANN_INCLUDE_DIRS@;@ODE_INCLUDE_DIRS@;@SPOT_INCLUDE_DIRS@;@TRIANGLE_INCLUDE_DIR@;@FCL_INCLUDE_DIRS@;@PQP_INCLUDE_DIR@;@ASSIMP_INCLUDE_DIRS@;@OPENGL_INCLUDE_DIR@)
+     if(_dir)
+         list(APPEND OMPL_INCLUDE_DIRS "${_dir}")
+@@ -29,7 +32,7 @@ list(REMOVE_DUPLICATES OMPL_INCLUDE_DIRS)
+ set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIRS}" CACHE STRING "Include path for OMPL and its dependencies")
+ 
+ set_and_check(OMPL_LIBRARY_DIR @PACKAGE_LIB_INSTALL_DIR@)
+-set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIR};@Boost_LIBRARY_DIRS@")
++set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIR};${Boost_LIBRARY_DIRS}")
+ foreach(_dir @FLANN_LIBRARY_DIRS@;@ODE_LIBRARY_DIRS@;@SPOT_LIBRARY_DIRS@;@FCL_LIBRARY_DIRS@;@ASSIMP_LIBRARY_DIRS@)
+     if(_dir)
+         list(APPEND OMPL_LIBRARY_DIRS "${_dir}")
+@@ -40,7 +43,7 @@ set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIRS}" CACHE STRING "Library path for OMPL
+ 
+ find_library(OMPL_LIBRARIES NAMES ompl.${OMPL_VERSION} ompl
+     PATHS ${OMPL_LIBRARY_DIR} NO_DEFAULT_PATH)
+-foreach(_lib @Boost_SERIALIZATION_LIBRARY@;@Boost_FILESYSTEM_LIBRARY@;@Boost_SYSTEM_LIBRARY@;@ODE_LIBRARIES@;@SPOT_LIBRARIES@)
++foreach(_lib ${Boost_SERIALIZATION_LIBRARY};${Boost_FILESYSTEM_LIBRARY};${Boost_SYSTEM_LIBRARY};@ODE_LIBRARIES@;@SPOT_LIBRARIES@)
+     if(_lib)
+         list(APPEND OMPL_LIBRARIES "${_lib}")
+     endif()
+@@ -61,3 +64,4 @@ endif()
+ 
+ include(FindPackageHandleStandardArgs)
+ find_package_handle_standard_args(ompl DEFAULT_MSG OMPL_INCLUDE_DIRS OMPL_LIBRARY_DIRS OMPL_LIBRARIES)
++include(${CMAKE_CURRENT_LIST_DIR}/ompl-targets.cmake)

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

@@ -0,0 +1,59 @@
+vcpkg_buildpath_length_warning(37)
+
+# See https://github.com/ompl/ompl/blob/main/src/ompl/CMakeLists.txt#L49-L54
+if (VCPKG_TARGET_IS_WINDOWS AND NOT VCPKG_TARGET_IS_MINGW)
+    vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+else()
+    vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
+endif()
+
+set(OMPL_VERSION 1.5.1)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO ompl/ompl
+    REF 1.5.1
+    SHA512 2f28d29f32f3bb03e67b29ce251e4786364847a25e3c4cf66d7663ed38dca4da71d4e03cf9ce647710d9524a3907c76c09795e77f041cb8822f695d28f5ca570
+    HEAD_REF master
+    PATCHES
+        0001_Export_targets.patch
+        0002_Fix_config.patch
+)
+
+# Based on selected features different files get downloaded, so use the following command instead of patch.
+vcpkg_replace_string("${SOURCE_PATH}/CMakeLists.txt" "find_package(Eigen3 REQUIRED)" "find_package(Eigen3 REQUIRED CONFIG)")
+vcpkg_replace_string("${SOURCE_PATH}/CMakeLists.txt" "find_package(ccd REQUIRED)" "find_package(ccd REQUIRED CONFIG)")
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    DISABLE_PARALLEL_CONFIGURE
+    OPTIONS
+        -DOMPL_VERSIONED_INSTALL=OFF
+        -DOMPL_REGISTRATION=OFF
+        -DOMPL_BUILD_DEMOS=OFF
+        -DOMPL_BUILD_TESTS=OFF
+        -DOMPL_BUILD_PYBINDINGS=OFF
+        -DOMPL_BUILD_PYTESTS=OFF
+)
+
+vcpkg_cmake_install()
+
+vcpkg_cmake_config_fixup(CONFIG_PATH share/ompl/cmake)
+vcpkg_fixup_pkgconfig()
+
+# Remove debug distribution and other, move ompl_benchmark to tools/ dir
+file(REMOVE_RECURSE
+    "${CURRENT_PACKAGES_DIR}/debug/include"
+    "${CURRENT_PACKAGES_DIR}/debug/share"
+    "${CURRENT_PACKAGES_DIR}/share/man"
+    "${CURRENT_PACKAGES_DIR}/share/ompl/demos"
+    "${CURRENT_PACKAGES_DIR}/share/ompl/ompl.conf"
+    "${CURRENT_PACKAGES_DIR}/share/ompl/plannerarena"
+)
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+endif()
+
+# Handle copyright
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,28 @@
+{
+  "name": "ompl",
+  "version": "1.5.1",
+  "port-version": 5,
+  "description": "The Open Motion Planning Library, consists of many state-of-the-art sampling-based motion planning algorithms",
+  "homepage": "https://ompl.kavrakilab.org/",
+  "dependencies": [
+    "boost-dynamic-bitset",
+    "boost-filesystem",
+    "boost-graph",
+    "boost-odeint",
+    "boost-program-options",
+    "boost-serialization",
+    "boost-system",
+    "boost-test",
+    "boost-timer",
+    "boost-ublas",
+    "eigen3",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/omplapp/fix_boost_static_link.patch

@@ -0,0 +1,17 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 4b391b5..24d2c66 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -36,10 +36,10 @@ set(OMPL_DEMO_INSTALL_DIR "${CMAKE_INSTALL_DATAROOTDIR}/ompl/demos"
+ set(OMPL_CMAKE_UTIL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules"
+     CACHE FILEPATH "Path to directory with auxiliary CMake scripts for OMPL")
+ 
+-if(MSVC)
++if(false)
+     add_definitions(-DBOOST_ALL_NO_LIB)
+     add_definitions(-DBOOST_PROGRAM_OPTIONS_DYN_LINK)
+-endif(MSVC)
++endif(false)
+ # Ensure dynamic linking with boost unit_test_framework
+ add_definitions(-DBOOST_TEST_DYN_LINK)
+ # Avoid valgrind error due to overflow error, cf. https://bitbucket.org/ompl/ompl/issues/543

third-party/DPVO/Pangolin/scripts/vcpkg/ports/omplapp/fix_dependency.patch

@@ -0,0 +1,128 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 4c7e690..4b391b5 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -73,12 +73,15 @@ set_package_properties(OpenGL PROPERTIES
+     URL "http://opengl.org"
+     PURPOSE "Used to render graphics in ompl_app.")
+ set(OpenGL_GL_PREFERENCE GLVND)
+-find_package(OpenGL)
++if (OMPLAPP_WITH_OPENGL)
++find_package(OpenGL REQUIRED)
++endif()
+ set_package_properties(Python PROPERTIES
+     URL "http://python.org"
+     PURPOSE "Used for python bindings.")
+ # This includes our own FindPython.cmake in ompl/CMakeModules. It defines,
+ # among other things, the find_python_module() function used below.
++if (OMPLAPP_WITH_PYTHON)
+ find_package(Python)
+ find_boost_python()
+ 
+@@ -105,55 +108,76 @@ find_python_module(OpenGL)
+ if (NOT OPENGL_FOUND OR NOT PY_OPENGL)
+     message(WARNING "Both OpenGL and the Python OpenGL module need to be installed to use the GUI")
+ endif()
++endif()
+ set_package_properties(Eigen3 PROPERTIES
+     URL "http://eigen.tuxfamily.org"
+     PURPOSE "A linear algebra library used throughout OMPL.")
+-find_package(Eigen3 REQUIRED)
++find_package(Eigen3 CONFIG REQUIRED)
+ set_package_properties(Triangle PROPERTIES
+     URL "http://www.cs.cmu.edu/~quake/triangle.html"
+     PURPOSE "Used to create triangular decompositions of polygonal 2D environments.")
++if (OMPLAPP_WITH_TRIANGLE)
+ find_package(Triangle QUIET)
++endif()
+ set_package_properties(flann PROPERTIES
+     URL "https://github.com/mariusmuja/flann"
+     PURPOSE "If detetected, FLANN can be used for nearest neighbor queries by OMPL.")
++if (OMPLAPP_WITH_FLANN)
+ find_package(flann 1.8.3 QUIET)
++endif()
+ set_package_properties(spot PROPERTIES
+     URL "http://spot.lrde.epita.fr"
+     PURPOSE "Used for constructing finite automata from LTL formulae.")
++if (OMPLAPP_WITH_SPOT)
+ find_package(spot)
++endif()
+ set_package_properties(MORSE PROPERTIES
+     URL "https://www.openrobots.org/wiki/morse"
+     PURPOSE "OMPL includes a plugin for the MORSE Robot Simulation engine.")
++if (OMPLAPP_WITH_MORSE)
+ find_package(MORSE QUIET)
++endif()
+ set_package_properties(ODE PROPERTIES
+     URL "http://ode.org"
+     PURPOSE "The Open Dynamics Engine can be used as a \"black box\" for kinodynamic planning.")
+-find_package(ODE QUIET)
++if (OMPLAPP_WITH_ODE)
++find_package(ODE CONFIG REQUIRED)
++set(ODE_LIBRARIES ODE::ODE)
++endif()
+ set_package_properties(Drawstuff PROPERTIES
+     URL "http://ode.org"
+     PURPOSE "Part of the ODE source distribution, used in one demo program.")
++if (OMPLAPP_WITH_DRAWSTUFF)
+ find_package(Drawstuff QUIET)
++endif()
+ set_package_properties(assimp PROPERTIES
+     URL "http://assimp.org"
+     PURPOSE "Used in ompl_app for reading meshes representing robots and environments.")
+-find_package(assimp REQUIRED)
++find_package(assimp CONFIG REQUIRED)
++set(ASSIMP_LIBRARIES assimp::assimp)
+ set_package_properties(ccd PROPERTIES
+     URL "https://github.com/danfis/libccd"
+     PURPOSE "Collision detection library used by fcl.")
+-find_package(ccd REQUIRED)
++find_package(ccd CONFIG REQUIRED)
+ set_package_properties(fcl PROPERTIES
+     URL "https://github.com/flexible-collision-library/fcl"
+     PURPOSE "The default collision checking library.")
++if (OMPLAPP_WITH_OCTOMAP)
+ find_package(octomap QUIET)
++endif()
+ find_package(fcl REQUIRED)
+ set_package_properties(Threads PROPERTIES
+     URL "https://en.wikipedia.org/wiki/POSIX_Threads"
+     PURPOSE "Pthreads is sometimes needed, depending on OS / compiler.")
++if (OMPLAPP_WITH_THREADS)
+ find_package(Threads QUIET)
++endif()
+ set_package_properties(Doxygen PROPERTIES
+     URL "http://doxygen.org"
+     PURPOSE "Used to create the OMPL documentation (i.e., http://ompl.kavrakilab.org).")
++if (OMPLAPP_WITH_DOXYGEN)
+ find_package(Doxygen)
++endif()
+ 
+ enable_testing()
+ 
+@@ -177,9 +201,7 @@ include_directories(SYSTEM "${Boost_INCLUDE_DIR}")
+ include_directories(
+     "${OMPLAPP_INCLUDE_DIRS}"
+     "${OMPL_INCLUDE_DIRS}"
+-    "${EIGEN3_INCLUDE_DIR}"
+-    "${FCL_INCLUDE_DIRS}"
+-    "${ASSIMP_INCLUDE_DIRS}")
++    "${FCL_INCLUDE_DIRS}")
+ 
+ # ROS installs fcl in /usr. In /usr/include/fcl/config.h it says octomap was
+ # enabled. Octomap is installed in /opt/ros/${ROS_DISTRO}/include (most
+@@ -242,12 +264,14 @@ endif()
+ set_package_properties(PQP PROPERTIES
+     URL "http://gamma.cs.unc.edu/SSV/"
+     PURPOSE "Used as an alternative, additional collision checking library (the default is FCL).")
++IF (OMPLAPP_WITH_PQP)
+ find_package(PQP QUIET)
+ if(PQP_FOUND)
+     include_directories("${PQP_INCLUDE_DIR}")
+     set(OMPLAPP_MODULE_LIBRARIES ${OMPLAPP_MODULE_LIBRARIES} ${PQP_LIBRARY})
+     set(OMPLAPP_LIBRARIES ${OMPLAPP_LIBRARIES} ${PQP_LIBRARY})
+ endif()
++endif()
+ 
+ add_subdirectory(ompl/doc)
+ add_subdirectory(ompl/src)

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

@@ -0,0 +1,89 @@
+vcpkg_buildpath_length_warning(37)
+
+set(OMPL_VERSION 1.5.1)
+
+vcpkg_download_distfile(ARCHIVE
+    URLS "https://github.com/ompl/omplapp/releases/download/1.5.1/omplapp-1.5.1-Source.tar.gz"
+    FILENAME "omplapp-${OMPL_VERSION}.tar.gz"
+    SHA512 83b1b09d6be776f7e15a748402f0c2f072459921de61a92731daf5171bd1f91a829fbeb6e10a489b92fba0297f6272e7bb6b8f07830c387bb29ccdbc7b3731f3
+)
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    set(STATIC_PATCH fix_boost_static_link.patch)
+endif()
+
+vcpkg_extract_source_archive_ex(
+    OUT_SOURCE_PATH SOURCE_PATH
+    ARCHIVE ${ARCHIVE}
+    REF ${OMPL_VERSION}
+    PATCHES
+        fix_dependency.patch
+        ${STATIC_PATCH}
+)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        ode     OMPLAPP_WITH_ODE
+        opengl  OMPLAPP_WITH_OPENGL
+        threads OMPLAPP_WITH_THREADS
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    DISABLE_PARALLEL_CONFIGURE
+    OPTIONS
+        ${FEATURE_OPTIONS}
+        -DOMPL_VERSIONED_INSTALL=OFF
+        -DOMPL_REGISTRATION=OFF
+        -DOMPL_BUILD_DEMOS=OFF
+        -DOMPL_BUILD_TESTS=OFF
+        -DOMPL_BUILD_PYBINDINGS=OFF
+        -DOMPL_BUILD_PYTESTS=OFF
+        # Not implement
+        -DOMPLAPP_WITH_PYTHON=OFF
+        -DOMPLAPP_WITH_TRIANGLE=OFF
+        -DOMPLAPP_WITH_OCTOMAP=OFF
+        -DOMPLAPP_WITH_FLANN=OFF # Requires 1.8.3
+        # Missing dependencies in vcpkg
+        -DOMPLAPP_WITH_SPOT=OFF
+        -DOMPLAPP_WITH_MORSE=OFF
+        -DOMPLAPP_WITH_DRAWSTUFF=OFF
+        -DOMPLAPP_WITH_PQP=OFF
+        -DOMPLAPP_WITH_DOXYGEN=OFF
+)
+
+vcpkg_cmake_install()
+
+vcpkg_cmake_config_fixup(CONFIG_PATH share/ompl/cmake)
+
+# Remove debug distribution and other, move ompl_benchmark to tools/ dir
+vcpkg_copy_tools(TOOL_NAMES ompl_benchmark AUTO_CLEAN)
+file(REMOVE_RECURSE
+    "${CURRENT_PACKAGES_DIR}/include/ompl"
+    "${CURRENT_PACKAGES_DIR}/bin"
+    "${CURRENT_PACKAGES_DIR}/include/omplapp/CMakeFiles"
+    "${CURRENT_PACKAGES_DIR}/lib/ompl.lib"
+    "${CURRENT_PACKAGES_DIR}/share/ompl"
+    "${CURRENT_PACKAGES_DIR}/share/man"
+    "${CURRENT_PACKAGES_DIR}/debug/bin"
+    "${CURRENT_PACKAGES_DIR}/debug/include"
+    "${CURRENT_PACKAGES_DIR}/debug/lib/ompl.lib"
+    "${CURRENT_PACKAGES_DIR}/debug/share"
+)
+
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/omplapp/config.h" "#define OMPLAPP_RESOURCE_DIR \"${CURRENT_PACKAGES_DIR}/share/ompl/resources\"" "")
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+endif()
+
+if(NOT VCPKG_TARGET_IS_WINDOWS)
+    vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/lib/pkgconfig/ompl.pc" "assimp::assimp" "assimp")
+    if(NOT VCPKG_BUILD_TYPE)
+        vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/debug/lib/pkgconfig/ompl.pc" "assimp::assimp" "assimp")
+    endif()
+    vcpkg_fixup_pkgconfig()
+endif()
+
+# Handle copyright
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,46 @@
+{
+  "name": "omplapp",
+  "version": "1.5.1",
+  "port-version": 3,
+  "description": "Use OMPL for reading meshes and performing collision checking",
+  "homepage": "https://ompl.kavrakilab.org/",
+  "dependencies": [
+    "assimp",
+    "boost-filesystem",
+    "boost-program-options",
+    "boost-serialization",
+    "boost-system",
+    "ccd",
+    "eigen3",
+    "fcl",
+    "ompl",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "features": {
+    "ode": {
+      "description": "Build with Open Dynamics Engine support",
+      "dependencies": [
+        "ode"
+      ]
+    },
+    "opengl": {
+      "description": "Build with OpenGL support",
+      "dependencies": [
+        "opengl"
+      ]
+    },
+    "threads": {
+      "description": "Build with Threads support",
+      "dependencies": [
+        "pthreads"
+      ]
+    }
+  }
+}

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

@@ -0,0 +1,26 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO oneapi-src/oneDNN
+    REF v2.4.3
+    SHA512 6a597be1b6b50d252e346a96d3c9b4771e9d8e8fc495a09b638ea296d53e71d51ea2e2be04cc20de1bca17215a7a7e5f22a1808628bcdf98180def2d91b2c9e3
+    HEAD_REF master
+)
+
+if (VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    set(DNNL_OPTIONS "-DDNNL_LIBRARY_TYPE=STATIC")
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS ${DNNL_OPTIONS}
+)
+vcpkg_cmake_install()
+
+# The port name and the find_package() name are different (onednn versus dnnl)
+vcpkg_cmake_config_fixup(PACKAGE_NAME dnnl CONFIG_PATH lib/cmake/dnnl)
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+
+# Copyright and license
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,18 @@
+{
+  "name": "onednn",
+  "version-semver": "2.4.3",
+  "port-version": 1,
+  "description": "oneAPI Deep Neural Network Library (oneDNN)",
+  "homepage": "https://github.com/oneapi-src/oneDNN",
+  "supports": "x64 & !uwp",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

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

@@ -0,0 +1,25 @@
+diff --git a/src/regcomp.c b/src/regcomp.c
+--- a/src/regcomp.c
++++ b/src/regcomp.c
+@@ -3880,7 +3880,7 @@ reduce_string_list(Node* node)
+     {
+       Node* prev;
+       Node* curr;
+-      Node* prev_node;
++      Node* prev_node = NULL;
+       Node* next_node;
+ 
+       prev = NULL_NODE;
+diff --git a/src/regexec.c b/src/regexec.c
+index ce498c6..6848c0f 100644
+--- a/src/regexec.c
++++ b/src/regexec.c
+@@ -4216,7 +4216,7 @@ regset_search_body_position_lead(OnigRegSet* set,
+ {
+   int r, n, i;
+   UChar *s;
+-  UChar *low, *high;
++  UChar *low, *high = NULL;
+   UChar* sch_range;
+   regex_t* reg;
+   OnigEncoding enc;

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

@@ -0,0 +1,54 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO kkos/oniguruma
+    REF v6.9.7.1
+    SHA512 CE22050E04E51843E894D2D534D062FDD23CC2BAAC9BA43DA1843EC928F6CE5ED3D4407FE945F4D34ADADF3167DFD943CD81AE4556F7C5EC51E7331C35EAD479
+    HEAD_REF master
+    PATCHES fix-uwp.patch
+)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    INVERTED_FEATURES
+        "non-posix" ENABLE_POSIX_API
+)
+
+if(VCPKG_CRT_LINKAGE STREQUAL "static")
+    set(MSVC_STATIC_RUNTIME ON)
+else()
+    set(MSVC_STATIC_RUNTIME OFF)
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        ${FEATURE_OPTIONS}
+        -DMSVC_STATIC_RUNTIME=${MSVC_STATIC_RUNTIME}
+)
+
+vcpkg_cmake_install()
+
+vcpkg_copy_pdbs()
+
+vcpkg_cmake_config_fixup(CONFIG_PATH "lib/cmake/${PORT}")
+
+file(REMOVE_RECURSE
+    "${CURRENT_PACKAGES_DIR}/debug/include"
+    "${CURRENT_PACKAGES_DIR}/debug/share"
+)
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL dynamic)
+    vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/oniguruma.h"
+        "#if defined(ONIGURUMA_EXPORT)"
+        "#if 0 // defined(ONIGURUMA_EXPORT)"
+    )
+else()
+    # oniguruma.h uses `\n` as line break.
+    vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/oniguruma.h"
+        "#ifndef ONIG_EXTERN\n#if defined(_WIN32) && !defined(__GNUC__)"
+        "#if 0\n#if defined(_WIN32) && !defined(__GNUC__)"
+    )
+endif()
+
+file(INSTALL "${SOURCE_PATH}/COPYING" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
+
+vcpkg_fixup_pkgconfig()

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

@@ -0,0 +1,22 @@
+{
+  "name": "oniguruma",
+  "version": "6.9.7.1",
+  "port-version": 1,
+  "description": "Modern and flexible regular expressions library",
+  "homepage": "https://github.com/kkos/oniguruma",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "features": {
+    "non-posix": {
+      "description": "Disable POSIX API"
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/onnx-optimizer/fix-cmakelists.patch

@@ -0,0 +1,56 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c2e48b3..5716fbb 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -7,10 +7,18 @@ if(NOT MSVC)
+   set(CMAKE_CXX_STANDARD 11)
+ endif(NOT MSVC)
+ 
++# Add MSVC RunTime Flag
++function(add_msvc_runtime_flag lib)
++  if(${ONNX_USE_MSVC_STATIC_RUNTIME})
++    target_compile_options(${lib} PRIVATE $<$<NOT:$<CONFIG:Debug>>:/MT> $<$<CONFIG:Debug>:/MTd>)    
++  else()
++    target_compile_options(${lib} PRIVATE $<$<NOT:$<CONFIG:Debug>>:/MD> $<$<CONFIG:Debug>:/MDd>)
++  endif()
++endfunction()
+ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+ 
+-set(ONNX_ROOT ${PROJECT_SOURCE_DIR}/third_party/onnx)
+-add_subdirectory(${ONNX_ROOT})
++find_package(protobuf CONFIG REQUIRED)
++find_package(ONNX CONFIG REQUIRED)
+ 
+ file(READ "${PROJECT_SOURCE_DIR}/VERSION_NUMBER" ONNX_OPTIMIZER_VERSION)
+ string(STRIP "${ONNX_OPTIMIZER_VERSION}" ONNX_OPTIMIZER_VERSION)
+@@ -31,6 +39,7 @@ add_executable(onnx_optimizer_exec examples/onnx_optimizer_exec.cpp)
+ target_link_libraries(onnx_optimizer_exec onnx_optimizer)
+ 
+ if(BUILD_ONNX_PYTHON)
++  find_package(Python3 COMPONENTS Development REQUIRED)
+   if("${PY_EXT_SUFFIX}" STREQUAL "")
+     if(MSVC)
+       set(PY_EXT_SUFFIX ".pyd")
+@@ -51,7 +60,7 @@ if(BUILD_ONNX_PYTHON)
+                              $<INSTALL_INTERFACE:include>
+                              ${PYTHON_INCLUDE_DIR})
+   # pybind11 is a header only lib
+-  find_package(pybind11 2.2)
++  find_package(pybind11 2.2 CONFIG REQUIRED)
+   if(pybind11_FOUND)
+     target_include_directories(onnx_opt_cpp2py_export PUBLIC
+       ${pybind11_INCLUDE_DIRS})
+@@ -87,11 +96,9 @@ if(BUILD_ONNX_PYTHON)
+   endif()
+ 
+   target_link_libraries(onnx_opt_cpp2py_export PRIVATE onnx_optimizer)
+-
++  target_link_directories(onnx_opt_cpp2py_export PRIVATE ${Python3_LIBRARY_DIRS})
++  target_link_libraries(onnx_opt_cpp2py_export PRIVATE ${Python3_LIBRARIES})
+   if(MSVC)
+-    find_package(PythonInterp ${PY_VERSION} REQUIRED)
+-    find_package(PythonLibs ${PY_VERSION} REQUIRED)
+-    target_link_libraries(onnx_opt_cpp2py_export PRIVATE ${PYTHON_LIBRARIES})
+     target_compile_options(onnx_opt_cpp2py_export
+                            PRIVATE /MP
+                                    /WX

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

@@ -0,0 +1,43 @@
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO onnx/optimizer
+    REF v0.2.6
+    SHA512 cc6373781f04bc6fafd3282d248e26eaf93556b86acbb0dee44b4aa7a5d59c634905c1a05d035e31a50fc0f06cfc686fa483b79a324dd973faa421747d4a681b
+    HEAD_REF master
+    PATCHES
+        fix-cmakelists.patch
+)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        pybind11 BUILD_ONNX_PYTHON
+)
+if("pybind11" IN_LIST FEATURES)
+    vcpkg_find_acquire_program(PYTHON3)
+    list(APPEND FEATURE_OPTIONS
+        -DPython3_EXECUTABLE=${PYTHON3}
+        -DONNX_USE_PROTOBUF_SHARED_LIBS=ON # /wd4251
+    )
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        ${FEATURE_OPTIONS}
+)
+if("pybind11" IN_LIST FEATURES)
+    # This target is not in install/export
+    vcpkg_cmake_build(TARGET onnx_opt_cpp2py_export)
+endif()
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+vcpkg_cmake_config_fixup(PACKAGE_NAME ONNXOptimizer CONFIG_PATH lib/cmake/ONNXOptimizer)
+
+file(INSTALL "${SOURCE_PATH}/LICENSE"
+     DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include"
+                    "${CURRENT_PACKAGES_DIR}/debug/share"
+                    "${CURRENT_PACKAGES_DIR}/include/onnxoptimizer/test"
+)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/onnx-optimizer/vcpkg.json

@@ -0,0 +1,31 @@
+{
+  "name": "onnx-optimizer",
+  "version-semver": "0.2.6",
+  "description": "Actively maintained ONNX Optimizer",
+  "homepage": "https://github.com/onnx/optimizer",
+  "license": "Apache-2.0",
+  "dependencies": [
+    "onnx",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "features": {
+    "pybind11": {
+      "description": "Build Python binaries",
+      "dependencies": [
+        {
+          "name": "onnx",
+          "features": [
+            "pybind11"
+          ]
+        }
+      ]
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/onnx/fix-cmakelists.patch

@@ -0,0 +1,86 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 628dcaa..300e4ea 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -111,8 +111,8 @@ endif()
+ # find_package Python has replaced PythonInterp and PythonLibs since cmake 3.12
+ # Use the following command in the future; now this is only compatible with the latest pybind11
+ # find_package(Python ${PY_VERSION} COMPONENTS Interpreter Development REQUIRED)
+-find_package(PythonInterp ${PY_VERSION} REQUIRED)
+-find_package(PythonLibs ${PY_VERSION})
++find_package(Python3 ${PY_VERSION} COMPONENTS Interpreter REQUIRED)
++set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
+ 
+ if(CMAKE_SYSTEM_NAME STREQUAL "AIX")
+   set(CMAKE_NO_SYSTEM_FROM_IMPORTED 1)
+@@ -422,6 +422,7 @@ target_link_libraries(onnx PUBLIC onnx_proto)
+ add_onnx_global_defines(onnx)
+ 
+ if(BUILD_ONNX_PYTHON)
++  find_package(Python3 ${PY_VERSION} COMPONENTS Development REQUIRED)
+   if("${PY_EXT_SUFFIX}" STREQUAL "")
+     if(MSVC)
+       set(PY_EXT_SUFFIX ".pyd")
+@@ -441,10 +442,13 @@ if(BUILD_ONNX_PYTHON)
+                              $<BUILD_INTERFACE:${ONNX_ROOT}>
+                              $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
+                              $<INSTALL_INTERFACE:include>
+-                             ${PYTHON_INCLUDE_DIR})
+-
++                             ${Python3_INCLUDE_DIRS})
++  target_link_directories(onnx_cpp2py_export PRIVATE
++                          ${Python3_LIBRARY_DIRS})
++  target_link_libraries(onnx_cpp2py_export PRIVATE
++                        ${Python3_LIBRARIES})
+   # pybind11 is a header only lib
+-  find_package(pybind11 2.2)
++  find_package(pybind11 2.2 CONFIG REQUIRED)
+   if(pybind11_FOUND)
+     target_include_directories(onnx_cpp2py_export PUBLIC
+       ${pybind11_INCLUDE_DIRS})
+@@ -687,6 +691,27 @@ endif()
+ 
+ include(GNUInstallDirs)
+ 
++# install protobuf files
++install(FILES ${CMAKE_CURRENT_BINARY_DIR}/onnx/onnx-data.proto
++              ${CMAKE_CURRENT_BINARY_DIR}/onnx/onnx-data.proto3
++              ${CMAKE_CURRENT_BINARY_DIR}/onnx/onnx-ml.proto
++              ${CMAKE_CURRENT_BINARY_DIR}/onnx/onnx-ml.proto3
++              ${CMAKE_CURRENT_BINARY_DIR}/onnx/onnx-operators-ml.proto
++              ${CMAKE_CURRENT_BINARY_DIR}/onnx/onnx-operators-ml.proto3
++        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/onnx
++)
++# install python files
++if(BUILD_ONNX_PYTHON)
++  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/onnx/onnx_data_pb.py
++                ${CMAKE_CURRENT_BINARY_DIR}/onnx/onnx_data_pb2.py
++                ${CMAKE_CURRENT_BINARY_DIR}/onnx/onnx_ml_pb2.py
++                ${CMAKE_CURRENT_BINARY_DIR}/onnx/onnx_operators_ml_pb2.py
++                ${CMAKE_CURRENT_BINARY_DIR}/onnx/onnx_operators_pb.py
++                ${CMAKE_CURRENT_BINARY_DIR}/onnx/onnx_pb.py
++          DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/onnx
++  )
++endif()
++
+ install(DIRECTORY ${ONNX_ROOT}/onnx
+         DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+         FILES_MATCHING
+@@ -639,7 +639,7 @@ endif()
+ 
+ if (NOT ANDROID AND NOT IOS)
+   # ---[ ONNXIFI wrapper
+-  add_library(onnxifi_wrapper MODULE onnx/onnxifi_wrapper.c)
++  add_library(onnxifi_wrapper onnx/onnxifi_wrapper.c)
+   if(MSVC)
+     add_msvc_runtime_flag(onnxifi_wrapper)
+   endif()
+@@ -669,7 +669,7 @@ if (NOT ANDROID AND NOT IOS)
+ endif()
+ 
+ # ---[ ONNXIFI dummy backend
+-add_library(onnxifi_dummy SHARED onnx/onnxifi_dummy.c)
++add_library(onnxifi_dummy onnx/onnxifi_dummy.c)
+ 
+ if(ONNXIFI_ENABLE_EXT)
+   add_definitions(-DONNXIFI_ENABLE_EXT=ON)

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

@@ -0,0 +1,12 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1295eab..0fb9f17 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -126,6 +126,7 @@ if(ONNX_BUILD_TESTS)
+   include(googletest)
+ endif()
+ 
++find_package(protobuf CONFIG REQUIRED)
+ if((ONNX_USE_LITE_PROTO AND TARGET protobuf::libprotobuf-lite) OR ((NOT ONNX_USE_LITE_PROTO) AND TARGET protobuf::libprotobuf))
+   # Sometimes we need to use protoc compiled for host architecture while linking
+   # libprotobuf against target architecture. See https://github.com/caffe2/caffe

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

@@ -0,0 +1,95 @@
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO onnx/onnx
+    REF v1.10.2
+    SHA512 7519d326cd2b2b13a269ec0d01af07c32115d183dae6e1eaae55f5b23b6c92b2aadbb2b1e555557f4201bbcf921fa563d09d45d7f1d3bd2399c1a94a6ef63303
+    PATCHES
+        fix-cmakelists.patch
+        fix-dependency-protobuf.patch
+)
+
+string(COMPARE EQUAL "${VCPKG_CRT_LINKAGE}" "static" USE_STATIC_RUNTIME)
+
+# ONNX_USE_PROTOBUF_SHARED_LIBS: find the library and check its file extension
+find_library(PROTOBUF_LIBPATH NAMES protobuf PATHS "${CURRENT_INSTALLED_DIR}/bin" "${CURRENT_INSTALLED_DIR}/lib" REQUIRED)
+get_filename_component(PROTOBUF_LIBNAME "${PROTOBUF_LIBPATH}" NAME)
+if(PROTOBUF_LIBNAME MATCHES "${CMAKE_SHARED_LIBRARY_SUFFIX}")
+    set(USE_PROTOBUF_SHARED ON)
+else()
+    set(USE_PROTOBUF_SHARED OFF)
+endif()
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        pybind11 BUILD_ONNX_PYTHON
+)
+
+# Like protoc, python is required for codegen.
+vcpkg_find_acquire_program(PYTHON3)
+
+# PATH for .bat scripts so it can find 'python'
+get_filename_component(PYTHON_DIR "${PYTHON3}" PATH)
+vcpkg_add_to_path(PREPEND "${PYTHON_DIR}")
+
+if("pybind11" IN_LIST FEATURES)
+    # When BUILD_ONNX_PYTHON, we need Development component. Give a hint for FindPython3
+    list(APPEND FEATURE_OPTIONS
+        "-DPython3_ROOT_DIR=${CURRENT_INSTALLED_DIR}"
+    )
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        ${FEATURE_OPTIONS}
+        -DPython3_EXECUTABLE=${PYTHON3}
+        -DONNX_ML=ON
+        -DONNX_GEN_PB_TYPE_STUBS=ON
+        -DONNX_USE_PROTOBUF_SHARED_LIBS=${USE_PROTOBUF_SHARED}
+        -DONNX_USE_LITE_PROTO=OFF
+        -DONNX_USE_MSVC_STATIC_RUNTIME=${USE_STATIC_RUNTIME}
+        -DONNX_BUILD_TESTS=OFF
+        -DONNX_BUILD_BENCHMARKS=OFF
+    MAYBE_UNUSED_VARIABLES
+        ONNX_USE_MSVC_STATIC_RUNTIME
+)
+
+if("pybind11" IN_LIST FEATURES)
+    # This target is not in install/export
+    vcpkg_cmake_build(TARGET onnx_cpp2py_export)
+endif()
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/ONNX)
+
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
+
+file(REMOVE_RECURSE
+    "${CURRENT_PACKAGES_DIR}/debug/include"
+    "${CURRENT_PACKAGES_DIR}/debug/share"
+    # the others are empty
+    "${CURRENT_PACKAGES_DIR}/include/onnx/backend"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/bin"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/defs/controlflow"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/defs/generator"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/defs/logical"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/defs/math"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/defs/nn"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/defs/object_detection"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/defs/optional"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/defs/quantization"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/defs/reduction"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/defs/rnn"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/defs/sequence"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/defs/traditionalml"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/defs/training"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/examples"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/frontend"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/onnx_cpp2py_export"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/test"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/tools"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/onnx_ml"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/onnx_data"
+    "${CURRENT_PACKAGES_DIR}/include/onnx/onnx_operators_ml"
+)

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

@@ -0,0 +1,36 @@
+{
+  "name": "onnx",
+  "version-semver": "1.10.2",
+  "port-version": 1,
+  "description": "Open standard for machine learning interoperability",
+  "homepage": "https://onnx.ai",
+  "license": "Apache-2.0",
+  "supports": "!uwp",
+  "dependencies": [
+    "protobuf",
+    {
+      "name": "protobuf",
+      "host": true
+    },
+    {
+      "name": "python3",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "features": {
+    "pybind11": {
+      "description": "Build Python binaries",
+      "dependencies": [
+        "pybind11"
+      ]
+    }
+  }
+}

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

@@ -0,0 +1,41 @@
+vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
+
+set(VERSION 1.5.1)
+
+vcpkg_download_distfile(ARCHIVE
+    URLS "https://github.com/microsoft/onnxruntime/releases/download/v1.5.1/onnxruntime-win-x64-gpu-1.5.1.zip"
+    FILENAME "onnxruntime-win-x64-gpu-1.5.1.zip"
+    SHA512 893dbed1196b5c9730744dc5566cd3ad8ec677cbea04dd0572efc9a8b3563d3f1cbf40d0dea3d624d9451dc33272c0ae44d53d6deee6f249fa2520e60718ee52
+)
+
+vcpkg_extract_source_archive_ex(
+    OUT_SOURCE_PATH SOURCE_PATH
+    ARCHIVE ${ARCHIVE}
+    NO_REMOVE_ONE_LEVEL
+    REF ${VERSION}
+)
+
+file(MAKE_DIRECTORY
+        ${CURRENT_PACKAGES_DIR}/include
+        ${CURRENT_PACKAGES_DIR}/lib
+        ${CURRENT_PACKAGES_DIR}/bin
+        ${CURRENT_PACKAGES_DIR}/debug/lib
+        ${CURRENT_PACKAGES_DIR}/debug/bin
+    )
+
+file(COPY
+        ${SOURCE_PATH}/onnxruntime-win-x64-gpu-1.5.1/include
+        DESTINATION ${CURRENT_PACKAGES_DIR}
+    )
+
+file(COPY ${SOURCE_PATH}/onnxruntime-win-x64-gpu-1.5.1/lib/onnxruntime.lib
+    DESTINATION ${CURRENT_PACKAGES_DIR}/lib)
+file(COPY ${SOURCE_PATH}/onnxruntime-win-x64-gpu-1.5.1/lib/onnxruntime.lib
+    DESTINATION ${CURRENT_PACKAGES_DIR}/debug/lib)
+file(COPY ${SOURCE_PATH}/onnxruntime-win-x64-gpu-1.5.1/lib/onnxruntime.dll
+    DESTINATION ${CURRENT_PACKAGES_DIR}/bin)
+file(COPY ${SOURCE_PATH}/onnxruntime-win-x64-gpu-1.5.1/lib/onnxruntime.dll
+    DESTINATION ${CURRENT_PACKAGES_DIR}/debug/bin)
+
+# # Handle copyright
+file(INSTALL ${SOURCE_PATH}/onnxruntime-win-x64-gpu-1.5.1/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/onnxruntime-gpu/vcpkg.json

@@ -0,0 +1,8 @@
+{
+  "name": "onnxruntime-gpu",
+  "version": "1.5.1",
+  "port-version": 1,
+  "description": "onnxruntime (GPU)",
+  "homepage": "https://github.com/microsoft/onnxruntime",
+  "supports": "windows & !x86 & !uwp & !static & !arm"
+}

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

@@ -0,0 +1,11 @@
+# Header-only library
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO s9w/oof
+    REF a0c3e8e0dceec391bd38861ab108b932a2513bcb
+    SHA512 4d5650c8fa1e21e7fe71dbe615a6e3bdbe3781be28811e895ac335261de24b3ed26c4842cdd133df897cdb7181c3ea11c051607fbda5a7a1b9a4d8580323181d
+    HEAD_REF master
+)
+
+file(INSTALL "${SOURCE_PATH}/oof.h" DESTINATION "${CURRENT_PACKAGES_DIR}/include")
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,7 @@
+{
+  "name": "oof",
+  "version-date": "2021-11-23",
+  "description": "Convenient, high-performance RGB color and position control for console output.",
+  "homepage": "https://github.com/s9w/oof",
+  "license": "MIT"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/open62541/openssl.patch

@@ -0,0 +1,22 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9184b943..bd9203f7 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -526,7 +526,7 @@ if(NOT UA_FORCE_CPP AND (CMAKE_COMPILER_IS_GNUCC OR "x${CMAKE_C_COMPILER_ID}" ST
+     check_add_cc_flag("-Wall")      # Warnings
+     check_add_cc_flag("-Wextra")    # More warnings
+     check_add_cc_flag("-Wpedantic") # Standard compliance
+-    check_add_cc_flag("-Werror")    # All warnings are errors
++    #check_add_cc_flag("-Werror")    # All warnings are errors
+ 
+     check_add_cc_flag("-Wno-static-in-inline") # Clang doesn't like the use of static inline methods inside static inline methods
+     check_add_cc_flag("-Wno-overlength-strings") # May happen in the nodeset compiler when complex values are directly encoded
+@@ -659,7 +659,7 @@ if(APPLE)
+ endif()
+ 
+ if(MSVC)
+-  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /W3 /WX /w44996") # Compiler warnings, error on warning
++  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /W3 /WX /w44996 /wd4090") # Compiler warnings, error on warning
+ 
+   if(UA_MSVC_FORCE_STATIC_CRT AND NOT BUILD_SHARED_LIBS)
+     set(CompilerFlags CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_C_FLAGS

third-party/DPVO/Pangolin/scripts/vcpkg/ports/open62541/portfile.cmake

@@ -0,0 +1,44 @@
+set(VERSION v1.2.3)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO open62541/open62541
+    REF "${VERSION}"
+    SHA512 ffcc697901ec978fb9d1f8996f8a4c5114c98a0ec19206cac95d1a84f8d0fcbe38bf73e88f1df59d53bc6be481102aa2f2a6a0efa29797e7ce11123bd23131c2
+    HEAD_REF master
+    PATCHES
+        openssl.patch
+)
+
+vcpkg_check_features(
+    OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        openssl UA_ENABLE_ENCRYPTION_OPENSSL
+        mbedtls UA_ENABLE_ENCRYPTION_MBEDTLS
+        amalgamation UA_ENABLE_AMALGAMATION
+        historizing UA_ENABLE_HISTORIZING
+)
+
+vcpkg_find_acquire_program(PYTHON3)
+get_filename_component(PYTHON3_DIR "${PYTHON3}" DIRECTORY)
+vcpkg_add_to_path("${PYTHON3_DIR}")
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        ${FEATURE_OPTIONS}
+        -DOPEN62541_VERSION=${VERSION}
+    OPTIONS_DEBUG
+        -DCMAKE_DEBUG_POSTFIX=d
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH "lib/cmake/${PORT}")
+vcpkg_copy_pdbs()
+vcpkg_fixup_pkgconfig()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/share/open62541/tools")
+
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/open62541/vcpkg.json

@@ -0,0 +1,41 @@
+{
+  "name": "open62541",
+  "version": "1.2.3",
+  "port-version": 1,
+  "description": "open62541 is an open source C (C99) implementation of OPC UA licensed under the Mozilla Public License v2.0.",
+  "homepage": "https://open62541.org",
+  "license": "MPL-2.0",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "default-features": [
+    "openssl"
+  ],
+  "features": {
+    "amalgamation": {
+      "description": "Concatenate the library to a single file open62541.h/.c"
+    },
+    "historizing": {
+      "description": "Enable basic support for historical access (client and server)"
+    },
+    "mbedtls": {
+      "description": "Enable encryption support (uses MbedTLS)",
+      "dependencies": [
+        "mbedtls"
+      ]
+    },
+    "openssl": {
+      "description": "Enable encryption support (uses OpenSSL)",
+      "dependencies": [
+        "openssl"
+      ]
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openal-soft/dont-export-symbols-in-static-build.patch

@@ -0,0 +1,13 @@
+diff --git a/config.h.in b/config.h.in
+--- a/config.h.in
++++ b/config.h.in
+@@ -1,6 +1,8 @@
+ /* API declaration export attribute */
++#ifndef AL_LIBTYPE_STATIC
+ #define AL_API  ${EXPORT_DECL}
+ #define ALC_API ${EXPORT_DECL}
++#endif
+
+ /* Define if HRTF data is embedded in the library */
+ #cmakedefine ALSOFT_EMBED_HRTF_DATA
+ 

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

@@ -0,0 +1,96 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO kcat/openal-soft
+    REF ae4eacf147e2c2340cc4e02a790df04c793ed0a9 # openal-soft-1.21.1
+    SHA512 6ba006d3dad6efe002f285ff509a59f02b499ec3f6065df12a89c52355464117b4dbabcd04ee9cbf22cc3b4125c8e456769b172f8c3e9ee215e760b2c51a0a8f
+    HEAD_REF master
+    PATCHES
+        dont-export-symbols-in-static-build.patch
+)
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "dynamic")
+    set(OPENAL_LIBTYPE "SHARED")
+else()
+    set(OPENAL_LIBTYPE "STATIC")
+endif()
+
+set(ALSOFT_REQUIRE_LINUX OFF)
+set(ALSOFT_REQUIRE_WINDOWS OFF)
+set(ALSOFT_REQUIRE_APPLE OFF)
+
+if(VCPKG_TARGET_IS_LINUX)
+    set(ALSOFT_REQUIRE_LINUX ON)
+endif()
+if(VCPKG_TARGET_IS_WINDOWS)
+    set(ALSOFT_REQUIRE_WINDOWS ON)
+endif()
+if(VCPKG_TARGET_IS_OSX OR VCPKG_TARGET_IS_IOS)
+    set(ALSOFT_REQUIRE_APPLE ON)
+endif()
+
+vcpkg_configure_cmake(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DLIBTYPE=${OPENAL_LIBTYPE}
+        -DALSOFT_UTILS=OFF
+        -DALSOFT_NO_CONFIG_UTIL=ON
+        -DALSOFT_EXAMPLES=OFF
+        -DALSOFT_CONFIG=OFF
+        -DALSOFT_HRTF_DEFS=OFF
+        -DALSOFT_AMBDEC_PRESETS=OFF
+        -DALSOFT_BACKEND_ALSA=${ALSOFT_REQUIRE_LINUX}
+        -DALSOFT_BACKEND_OSS=OFF
+        -DALSOFT_BACKEND_SOLARIS=OFF
+        -DALSOFT_BACKEND_SNDIO=OFF
+        -DALSOFT_BACKEND_PORTAUDIO=OFF
+        -DALSOFT_BACKEND_PULSEAUDIO=OFF
+        -DALSOFT_BACKEND_COREAUDIO=${ALSOFT_REQUIRE_APPLE}
+        -DALSOFT_BACKEND_JACK=OFF
+        -DALSOFT_BACKEND_OPENSL=OFF
+        -DALSOFT_BACKEND_WAVE=ON
+        -DALSOFT_BACKEND_WINMM=OFF
+        -DALSOFT_BACKEND_DSOUND=OFF
+        -DALSOFT_REQUIRE_WASAPI=${ALSOFT_REQUIRE_WINDOWS}
+        -DALSOFT_CPUEXT_NEON=OFF
+        -DCMAKE_DISABLE_FIND_PACKAGE_WindowsSDK=ON
+    MAYBE_UNUSED_VARIABLES
+        ALSOFT_AMBDEC_PRESETS
+        ALSOFT_BACKEND_ALSA
+        ALSOFT_BACKEND_COREAUDIO
+        ALSOFT_BACKEND_JACK
+        ALSOFT_BACKEND_OPENSL
+        ALSOFT_BACKEND_OSS
+        ALSOFT_BACKEND_PORTAUDIO
+        ALSOFT_BACKEND_PULSEAUDIO
+        ALSOFT_BACKEND_SNDIO
+        ALSOFT_BACKEND_SOLARIS
+        ALSOFT_CONFIG
+        ALSOFT_CPUEXT_NEON
+        ALSOFT_HRTF_DEFS
+        CMAKE_DISABLE_FIND_PACKAGE_WindowsSDK
+)
+
+vcpkg_install_cmake()
+vcpkg_fixup_cmake_targets(CONFIG_PATH "lib/cmake/OpenAL")
+
+foreach(HEADER al.h alc.h)
+    file(READ "${CURRENT_PACKAGES_DIR}/include/AL/${HEADER}" AL_H)
+    if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+        string(REPLACE "defined(AL_LIBTYPE_STATIC)" "1" AL_H "${AL_H}")
+    else()
+        # Normally we would say:
+        # string(REPLACE "defined(AL_LIBTYPE_STATIC)" "0" AL_H "${AL_H}")
+        # but we are leaving these undefined macros alone in support of
+        # https://github.com/microsoft/vcpkg/issues/18098
+    endif()
+    file(WRITE "${CURRENT_PACKAGES_DIR}/include/AL/${HEADER}" "${AL_H}")
+endforeach()
+
+vcpkg_fixup_pkgconfig()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+file(INSTALL "${SOURCE_PATH}/COPYING" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
+file(COPY "${CMAKE_CURRENT_LIST_DIR}/usage" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}")
+
+vcpkg_copy_pdbs()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openal-soft/usage

@@ -0,0 +1,4 @@
+The package openal-soft provides CMake targets:
+
+    find_package(OpenAL CONFIG REQUIRED)
+    target_link_libraries(main PRIVATE OpenAL::OpenAL)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openal-soft/vcpkg.json

@@ -0,0 +1,8 @@
+{
+  "name": "openal-soft",
+  "version-semver": "1.21.1",
+  "port-version": 4,
+  "description": "OpenAL Soft is an LGPL-licensed, cross-platform, software implementation of the OpenAL 3D audio API.",
+  "homepage": "https://github.com/kcat/openal-soft",
+  "supports": "!uwp"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openblas/fix-redefinition-function.patch

@@ -0,0 +1,28 @@
+diff --git a/openblas_config_template.h b/openblas_config_template.h
+index 52dd49d..239219d 100644
+--- a/openblas_config_template.h
++++ b/openblas_config_template.h
+@@ -64,6 +64,7 @@ typedef int blasint;
+ #ifndef __cplusplus
+   #include <complex.h>
+ #endif
++  #ifndef OPENBLAS_COMPLEX_STRUCT
+   typedef float _Complex openblas_complex_float;
+   typedef double _Complex openblas_complex_double;
+   typedef xdouble _Complex openblas_complex_xdouble;
+@@ -76,7 +77,9 @@ typedef int blasint;
+   #define openblas_complex_double_imag(z)            (cimag(z))
+   #define openblas_complex_xdouble_real(z)           (creal(z))
+   #define openblas_complex_xdouble_imag(z)           (cimag(z))
++  #endif
+ #else
++  #ifndef OPENBLAS_COMPLEX_STRUCT
+   #define OPENBLAS_COMPLEX_STRUCT
+   typedef struct { float real, imag; } openblas_complex_float;
+   typedef struct { double real, imag; } openblas_complex_double;
+@@ -90,4 +93,5 @@ typedef int blasint;
+   #define openblas_complex_double_imag(z)            ((z).imag)
+   #define openblas_complex_xdouble_real(z)           ((z).real)
+   #define openblas_complex_xdouble_imag(z)           ((z).imag)
++  #endif
+ #endif

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openblas/fix-space-path.patch

@@ -0,0 +1,43 @@
+diff --git a/cmake/prebuild.cmake b/cmake/prebuild.cmake
+index 58ca1eb..e2f2134 100644
+--- a/cmake/prebuild.cmake
++++ b/cmake/prebuild.cmake
+@@ -490,14 +490,14 @@ else(NOT CMAKE_CROSSCOMPILING)
+ 
+   set(GETARCH_DIR "${PROJECT_BINARY_DIR}/getarch_build")
+   set(GETARCH_BIN "getarch${CMAKE_EXECUTABLE_SUFFIX}")
+-  file(MAKE_DIRECTORY ${GETARCH_DIR})
+-  configure_file(${TARGET_CONF_TEMP} ${GETARCH_DIR}/${TARGET_CONF} COPYONLY)
++  file(MAKE_DIRECTORY "${GETARCH_DIR}")
++  configure_file(${TARGET_CONF_TEMP} "${GETARCH_DIR}/${TARGET_CONF}" COPYONLY)
+   if (NOT "${CMAKE_SYSTEM_NAME}" STREQUAL "WindowsStore")
+-    try_compile(GETARCH_RESULT ${GETARCH_DIR}
++    try_compile(GETARCH_RESULT "${GETARCH_DIR}"
+       SOURCES ${GETARCH_SRC}
+     COMPILE_DEFINITIONS ${EXFLAGS} ${GETARCH_FLAGS} -I"${GETARCH_DIR}" -I"${PROJECT_SOURCE_DIR}" -I"${PROJECT_BINARY_DIR}"
+       OUTPUT_VARIABLE GETARCH_LOG
+-      COPY_FILE ${PROJECT_BINARY_DIR}/${GETARCH_BIN}
++      COPY_FILE "${PROJECT_BINARY_DIR}/${GETARCH_BIN}"
+     )
+   
+     if (NOT ${GETARCH_RESULT})
+@@ -518,14 +518,14 @@ execute_process(COMMAND "${BLASHELPER_BINARY_DIR}/${GETARCH_BIN}" 1 OUTPUT_VARIA
+ 
+   set(GETARCH2_DIR "${PROJECT_BINARY_DIR}/getarch2_build")
+   set(GETARCH2_BIN "getarch_2nd${CMAKE_EXECUTABLE_SUFFIX}")
+-  file(MAKE_DIRECTORY ${GETARCH2_DIR})
+-  configure_file(${TARGET_CONF_TEMP} ${GETARCH2_DIR}/${TARGET_CONF} COPYONLY)
++  file(MAKE_DIRECTORY "${GETARCH2_DIR}")
++  configure_file(${TARGET_CONF_TEMP} "${GETARCH2_DIR}/${TARGET_CONF}" COPYONLY)
+   if (NOT "${CMAKE_SYSTEM_NAME}" STREQUAL "WindowsStore")
+-    try_compile(GETARCH2_RESULT ${GETARCH2_DIR}
+-      SOURCES ${PROJECT_SOURCE_DIR}/getarch_2nd.c
++    try_compile(GETARCH2_RESULT "${GETARCH2_DIR}"
++      SOURCES "${PROJECT_SOURCE_DIR}/getarch_2nd.c"
+     COMPILE_DEFINITIONS ${EXFLAGS} ${GETARCH_FLAGS} ${GETARCH2_FLAGS} -I"${GETARCH2_DIR}" -I"${PROJECT_SOURCE_DIR}" -I"${PROJECT_BINARY_DIR}"
+       OUTPUT_VARIABLE GETARCH2_LOG
+-      COPY_FILE ${PROJECT_BINARY_DIR}/${GETARCH2_BIN}
++      COPY_FILE "${PROJECT_BINARY_DIR}/${GETARCH2_BIN}"
+     )
+ 
+     if (NOT ${GETARCH2_RESULT})

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

@@ -0,0 +1,35 @@
+diff --git a/common_stackalloc.h b/common_stackalloc.h
+index d3d5466..cd157fc 100644
+--- a/common_stackalloc.h
++++ b/common_stackalloc.h
+@@ -36,7 +36,7 @@ USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #define STACK_ALLOC_PROTECT_CHECK
+ #endif
+ 
+-#if defined(MAX_STACK_ALLOC) && MAX_STACK_ALLOC > 0
++#if defined(MAX_STACK_ALLOC) && MAX_STACK_ALLOC > 0 && !(defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_APP))
+ 
+ /*
+  * Allocate a buffer on the stack if the size is smaller than MAX_STACK_ALLOC.
+@@ -63,7 +63,7 @@ USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #endif
+ 
+ 
+-#if defined(MAX_STACK_ALLOC) && MAX_STACK_ALLOC > 0
++#if defined(MAX_STACK_ALLOC) && MAX_STACK_ALLOC > 0 && !(defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_APP))
+ #define STACK_FREE(BUFFER)    \
+   STACK_ALLOC_PROTECT_CHECK   \
+   if(!stack_alloc_size)       \
+diff --git a/interface/zgemv.c b/interface/zgemv.c
+index 3e98dba..ee597f7 100644
+--- a/interface/zgemv.c
++++ b/interface/zgemv.c
+@@ -244,7 +244,7 @@ void CNAME(enum CBLAS_ORDER order,
+   buffer_size = (buffer_size + 3) & ~3;
+   STACK_ALLOC(buffer_size, FLOAT, buffer);
+ 
+-#if defined(ARCH_X86_64) && defined(MAX_STACK_ALLOC) && MAX_STACK_ALLOC > 0
++#if defined(ARCH_X86_64) && defined(MAX_STACK_ALLOC) && MAX_STACK_ALLOC > 0 && !(defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_APP))
+   // cgemv_t.S return NaN if there are NaN or Inf in the buffer (see bug #746)
+   if(trans && stack_alloc_size)
+     memset(buffer, 0, MIN(BUFFER_SIZE, sizeof(FLOAT) * buffer_size));

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

@@ -0,0 +1,22 @@
+diff --git a/cmake/prebuild.cmake b/cmake/prebuild.cmake
+index 0c126e3..bb0124b 100644
+--- a/cmake/prebuild.cmake
++++ b/cmake/prebuild.cmake
+@@ -558,6 +558,8 @@ else(NOT CMAKE_CROSSCOMPILING)
+     if (NOT ${GETARCH_RESULT})
+       MESSAGE(FATAL_ERROR "Compiling getarch failed ${GETARCH_LOG}")
+     endif ()
++    
++    install(FILES "${PROJECT_BINARY_DIR}/${GETARCH_BIN}" DESTINATION bin)
+   endif ()
+   unset (HAVE_AVX2)
+   unset (HAVE_AVX)
+@@ -601,6 +603,8 @@ execute_process(COMMAND "${BLASHELPER_BINARY_DIR}/${GETARCH_BIN}" 1 OUTPUT_VARIA
+     if (NOT ${GETARCH2_RESULT})
+       MESSAGE(FATAL_ERROR "Compiling getarch_2nd failed ${GETARCH2_LOG}")
+     endif ()
++    
++    install(FILES "${PROJECT_BINARY_DIR}/${GETARCH2_BIN}" DESTINATION bin)
+   endif ()
+ 
+   # use the cmake binary w/ the -E param to run a shell command in a cross-platform way

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openblas/openblas_common.h

@@ -0,0 +1,60 @@
+#pragma once
+#include "openblas/openblas_config.h"
+
+#if defined(OPENBLAS_OS_WINNT) || defined(OPENBLAS_OS_CYGWIN_NT) || defined(OPENBLAS_OS_INTERIX)
+#define OPENBLAS_WINDOWS_ABI
+#define OPENBLAS_OS_WINDOWS
+
+#ifdef DOUBLE
+#define DOUBLE_DEFINED DOUBLE
+#undef  DOUBLE
+#endif
+#endif
+
+#ifdef NEEDBUNDERSCORE
+#define BLASFUNC(FUNC) FUNC##_
+
+#else
+#define BLASFUNC(FUNC) FUNC
+#endif
+
+
+#ifdef OPENBLAS_QUAD_PRECISION
+typedef struct {
+  unsigned long x[2];
+}  xdouble;
+#elif defined OPENBLAS_EXPRECISION
+#define xdouble long double
+#else
+#define xdouble double
+#endif
+
+#if defined(OS_WINNT) && defined(__64BIT__)
+typedef long long BLASLONG;
+typedef unsigned long long BLASULONG;
+#else
+typedef long BLASLONG;
+typedef unsigned long BLASULONG;
+#endif
+
+#ifdef OPENBLAS_USE64BITINT
+typedef BLASLONG blasint;
+#else
+typedef int blasint;
+#endif
+
+#if defined(XDOUBLE) || defined(DOUBLE)
+#define FLOATRET	FLOAT
+#else
+#ifdef NEED_F2CCONV
+#define FLOATRET	double
+#else
+#define FLOATRET	float
+#endif
+#endif
+
+
+/* Inclusion of a standard header file is needed for definition of __STDC_*
+   predefined macros with some compilers (e.g. GCC 4.7 on Linux).  This occurs
+   as a side effect of including either <features.h> or <stdc-predef.h>. */
+#include <stdio.h>

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

@@ -0,0 +1,111 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO xianyi/OpenBLAS
+    REF 2480e5046e3b0120da8a7fd1442eca628df55f87 # v0.3.19
+    SHA512 b85a96c8cd75bf7197732f3b923b8b0ffdc6261d7d6dc7b622d4bf24f061d02273ad99571cabe4686d92f77ff8e6f7e2de0851758cbb3c529d7c2ca96a0bc34d 
+    HEAD_REF develop
+    PATCHES
+        uwp.patch
+        fix-space-path.patch
+        fix-redefinition-function.patch
+        fix-uwp-build.patch
+        install-tools.patch
+)
+
+find_program(GIT NAMES git git.cmd)
+
+# sed and awk are installed with git but in a different directory
+get_filename_component(GIT_EXE_PATH "${GIT}" DIRECTORY)
+set(SED_EXE_PATH "${GIT_EXE_PATH}/../usr/bin")
+
+# openblas require perl to generate .def for exports
+vcpkg_find_acquire_program(PERL)
+get_filename_component(PERL_EXE_PATH "${PERL}" DIRECTORY)
+set(PATH_BACKUP "$ENV{PATH}")
+vcpkg_add_to_path("${PERL_EXE_PATH}")
+vcpkg_add_to_path("${SED_EXE_PATH}")
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        threads         USE_THREAD
+        simplethread    USE_SIMPLE_THREADED_LEVEL3
+        "dynamic-arch"  DYNAMIC_ARCH
+)
+
+set(COMMON_OPTIONS -DBUILD_WITHOUT_LAPACK=ON)
+
+if(VCPKG_TARGET_IS_OSX)
+    if("dynamic-arch" IN_LIST FEATURES)
+        vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
+        message(STATUS "Openblas with \"dynamic-arch\" option for OSX supports only dynamic linkage. It's not a bag of openblas but bug of combination cmake+ninja+osx. See: https://gitlab.kitware.com/cmake/cmake/-/issues/16731") 
+    endif()
+endif()
+
+set(OPENBLAS_EXTRA_OPTIONS)
+# for UWP version, must build non uwp first for helper
+# binaries.
+if(VCPKG_TARGET_IS_UWP)    
+    list(APPEND OPENBLAS_EXTRA_OPTIONS -DCMAKE_SYSTEM_PROCESSOR=AMD64
+                "-DBLASHELPER_BINARY_DIR=${CURRENT_HOST_INSTALLED_DIR}/tools/${PORT}")
+elseif(NOT (VCPKG_TARGET_IS_WINDOWS AND NOT VCPKG_TARGET_IS_MINGW))
+    string(APPEND VCPKG_C_FLAGS " -DNEEDBUNDERSCORE") # Required to get common BLASFUNC to append extra _
+    string(APPEND VCPKG_CXX_FLAGS " -DNEEDBUNDERSCORE")
+    list(APPEND OPENBLAS_EXTRA_OPTIONS
+                -DNOFORTRAN=ON
+                -DBU=_  #required for all blas functions to append extra _ using NAME
+    )
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        ${FEATURE_OPTIONS}
+        ${COMMON_OPTIONS}
+        ${OPENBLAS_EXTRA_OPTIONS}
+)
+
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+
+vcpkg_cmake_config_fixup(CONFIG_PATH share/cmake/OpenBLAS)
+
+if (EXISTS "${CURRENT_PACKAGES_DIR}/bin/getarch${VCPKG_HOST_EXECUTABLE_SUFFIX}")
+    vcpkg_copy_tools(TOOL_NAMES getarch AUTO_CLEAN)
+endif()
+if (EXISTS "${CURRENT_PACKAGES_DIR}/bin/getarch_2nd${VCPKG_HOST_EXECUTABLE_SUFFIX}")
+    vcpkg_copy_tools(TOOL_NAMES getarch_2nd AUTO_CLEAN)
+endif()
+
+set(ENV{PATH} "${PATH_BACKUP}")
+
+set(pcfile "${CURRENT_PACKAGES_DIR}/lib/pkgconfig/openblas.pc")
+if(EXISTS "${pcfile}")
+    file(READ "${pcfile}" _contents)
+    set(_contents "prefix=${CURRENT_INSTALLED_DIR}\n${_contents}")
+    file(WRITE "${pcfile}" "${_contents}")
+    #file(CREATE_LINK "${pcfile}" "${CURRENT_PACKAGES_DIR}/lib/pkgconfig/blas.pc" COPY_ON_ERROR)
+endif()
+set(pcfile "${CURRENT_PACKAGES_DIR}/debug/lib/pkgconfig/openblas.pc")
+if(EXISTS "${pcfile}")
+    file(READ "${pcfile}" _contents)
+    set(_contents "prefix=${CURRENT_INSTALLED_DIR}/debug\n${_contents}")
+    file(WRITE "${pcfile}" "${_contents}")
+    #file(CREATE_LINK "${pcfile}" "${CURRENT_PACKAGES_DIR}/debug/lib/pkgconfig/blas.pc" COPY_ON_ERROR)
+endif()
+vcpkg_fixup_pkgconfig()
+#maybe we need also to write a wrapper inside share/blas to search implicitly for openblas, whenever we feel it's ready for its own -config.cmake file
+
+# openblas do not make the config file , so I manually made this
+# but I think in most case, libraries will not include these files, they define their own used function prototypes
+# this is only to quite vcpkg
+file(COPY "${CMAKE_CURRENT_LIST_DIR}/openblas_common.h" DESTINATION "${CURRENT_PACKAGES_DIR}/include")
+
+vcpkg_replace_string(
+    "${SOURCE_PATH}/cblas.h"
+    "#include \"common.h\""
+    "#include \"openblas_common.h\""
+)
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include" "${CURRENT_PACKAGES_DIR}/debug/share")
+
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)