117b96e1af5be0c5efabf7833f8198a4c9134629b3f70c541fec143b93158a4a

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

@@ -0,0 +1,7 @@
+{
+  "name": "fruit",
+  "version-string": "3.6.0",
+  "port-version": 1,
+  "description": "Fruit, a dependency injection framework for C++ by Google",
+  "homepage": "https://github.com/google/fruit"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ftgl/01_disable_doxygen.patch

@@ -0,0 +1,30 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 303fcae..718ae88 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -35,15 +35,16 @@ ENDIF(BUILD_SHARED_LIBS)
+ 
+ ADD_CUSTOM_TARGET(doc)
+ 
+-FIND_PACKAGE(Doxygen)
+-IF(DOXYGEN_FOUND)
+-  ADD_CUSTOM_TARGET(doxygen
+-    ${DOXYGEN_EXECUTABLE}
+-    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
+-    COMMENT "Doxygen ...")
+-  ADD_DEPENDENCIES(doc doxygen)
+-
+-ENDIF(DOXYGEN_FOUND)
++IF (WIN32) # doxygen only have windows package in vcpkg now.
++   FIND_PACKAGE(Doxygen)
++   IF(DOXYGEN_FOUND)
++     ADD_CUSTOM_TARGET(doxygen
++       ${DOXYGEN_EXECUTABLE}
++       WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
++       COMMENT "Doxygen ...")
++     ADD_DEPENDENCIES(doc doxygen)
++   ENDIF(DOXYGEN_FOUND)
++ENDIF()
+ 
+ SUBDIRS(src)
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ftgl/02_enable-cpp11-std.patch

@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 718ae88..e53e0da 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,6 +1,9 @@
+ CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
+ 
+ PROJECT(FTGL)
++set(CMAKE_CXX_STANDARD 11)
++set(CMAKE_CXX_STANDARD_REQUIRED ON)
++
+ SET(CMAKE_MODULE_PATH ${FTGL_SOURCE_DIR})
+ 
+ SET(VERSION_SERIES 2)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ftgl/Fix-headersFilePath.patch

@@ -0,0 +1,23 @@
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 693e49f..c47ff3c 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -1,9 +1,5 @@
+-
+-
+-
+ INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/cmake)
+ 
+-
+ ADD_DEFINITIONS(-DPACKAGE_VERSION="${VERSION_SERIES}.${VERSION_MAJOR}.${VERSION_MINOR}")
+ 
+ IF(WIN32)
+@@ -26,7 +22,7 @@ SET(libftgl_la_SOURCES
+     FTGlyphContainer.h
+     FTInternals.h
+     FTLibrary.cpp
+-    FTLibrary.h
++    FTGL/FTLibrary.h
+     FTList.h
+     FTPoint.cpp
+     FTSize.cpp

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

@@ -0,0 +1,31 @@
+if (VCPKG_TARGET_IS_WINDOWS)
+    # doxygen only have windows package in vcpkg now.
+    vcpkg_find_acquire_program(DOXYGEN)
+endif()
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO frankheckenbach/ftgl
+    REF 483639219095ad080538e07ceb5996de901d4e74
+    SHA512 d5bf95db8db6a5c9f710bd274cb9bb82e3e67569e8f3ec55b36e068636a09252e6f191e36d8279e61b5d12408c065ce51829fc38d4d7afe5bda724752d2f084f
+    HEAD_REF master
+    PATCHES
+      Fix-headersFilePath.patch
+      01_disable_doxygen.patch
+      02_enable-cpp11-std.patch
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+)
+
+vcpkg_cmake_install()
+if (VCPKG_TARGET_IS_WINDOWS)
+    vcpkg_cmake_config_fixup(CONFIG_PATH cmake)
+else ()
+    vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake)
+endif()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+file(INSTALL "${SOURCE_PATH}/COPYING" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,23 @@
+{
+  "name": "ftgl",
+  "version-string": "2.4.0",
+  "port-version": 4,
+  "description": [
+    "FTGL is a free open source library to enable developers to use arbitrary fonts in their OpenGL (www.opengl.org) applications.",
+    "Unlike other OpenGL font libraries FTGL uses standard font file formats so doesn't need a preprocessing step to convert the high quality font data into a lesser quality, proprietary format.",
+    "FTGL uses the Freetype (www.freetype.org) font library to open and 'decode' the fonts. It then takes that output and stores it in a format most efficient for OpenGL rendering."
+  ],
+  "homepage": "https://github.com/frankheckenbach/ftgl",
+  "dependencies": [
+    "freetype",
+    "opengl",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

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

@@ -0,0 +1,26 @@
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO ArthurSonzogni/FTXUI
+    REF 81b7207121e41c3b838eca6f54396e4f676fa3d8 # 2.0.0
+    SHA512 44a0617e591f5340090866dd02d786af5de948829b00839c6fd0fdb67e8a5ec71fadecaa433892773b2073668fb9cef62652479d9793bdf323c91ebb9595c7e5
+    HEAD_REF master
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH ${SOURCE_PATH}
+    OPTIONS
+        -DFTXUI_BUILD_EXAMPLES=OFF
+        -DFTXUI_ENABLE_INSTALL=ON
+        -DFTXUI_BUILD_TESTS=OFF
+        -DFTXUI_BUILD_DOCS=OFF
+)
+
+vcpkg_cmake_install()
+
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/${PORT})
+
+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)

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

@@ -0,0 +1,19 @@
+{
+  "name": "ftxui",
+  "version-semver": "2.0.0",
+  "port-version": 1,
+  "description": "C++ Functional Terminal User Interface",
+  "homepage": "https://github.com/ArthurSonzogni/FTXUI",
+  "license": "MIT",
+  "supports": "!uwp",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/function2/disable-testing.patch

@@ -0,0 +1,14 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 684abe0..32a5cf6 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -75,7 +75,9 @@ if (FU2_IS_TOP_LEVEL_PROJECT)
+   install(EXPORT "${PROJECT_NAME}Targets"
+           NAMESPACE ${PROJECT_NAME}::
+           DESTINATION "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
++endif()
+ 
++if(0)
+   # Setup CPack for bundling
+   set(CPACK_GENERATOR "ZIP")
+   set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})

third-party/DPVO/Pangolin/scripts/vcpkg/ports/function2/portfile.cmake

@@ -0,0 +1,27 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO Naios/function2
+    REF 02ca99831de59c7c3a4b834789260253cace0ced # 4.2.0
+    SHA512 5b14d95584586c7365119f5171c86c7556ce402ae3c5db09e4e54e1225fc71e40f88ab77188986ecf9dac5eecbfd6330c5a7ecfe0375cb37773d007ebef1ba93
+    HEAD_REF master
+    PATCHES
+        disable-testing.patch
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+)
+
+vcpkg_install_cmake()
+
+vcpkg_fixup_cmake_targets(CONFIG_PATH lib/cmake/${PORT})
+
+file(REMOVE ${CURRENT_PACKAGES_DIR}/Readme.md)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug ${CURRENT_PACKAGES_DIR}/lib)
+
+# Put the installed licence file where vcpkg expects it
+file(MAKE_DIRECTORY ${CURRENT_PACKAGES_DIR}/share/${PORT})
+file(RENAME ${CURRENT_PACKAGES_DIR}/LICENSE.txt ${CURRENT_PACKAGES_DIR}/share/${PORT}/copyright)
+
+vcpkg_copy_pdbs()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/function2/vcpkg.json

@@ -0,0 +1,7 @@
+{
+  "name": "function2",
+  "version-string": "4.2.0",
+  "port-version": 1,
+  "description": "Improved drop-in replacement to std::function",
+  "homepage": "https://github.com/Naios/function2"
+}

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

@@ -0,0 +1,33 @@
+# TODO(coryan) - fix support for DLLs
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO GoogleCloudPlatform/functions-framework-cpp
+    REF v1.1.0
+    SHA512 2dcedbded84fdd604724b4f2482ee531aaa640ebdbb69f77978e1af8943d9d7746152953953ebd89d8304ed3efbc334c620890142b0ba2e1239862e43a158364
+    HEAD_REF main
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    DISABLE_PARALLEL_CONFIGURE
+    OPTIONS
+        -DBUILD_TESTING=OFF
+)
+
+vcpkg_install_cmake(ADD_BIN_TO_PATH)
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+vcpkg_fixup_cmake_targets(CONFIG_PATH lib/cmake TARGET_PATH share)
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/share)
+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/functions-framework-cpp/vcpkg.json

@@ -0,0 +1,14 @@
+{
+  "name": "functions-framework-cpp",
+  "version": "1.1.0",
+  "description": "Functions Framework for C++.",
+  "homepage": "https://github.com/GoogleCloudPlatform/functions-framework-cpp/",
+  "license": "Apache-2.0",
+  "dependencies": [
+    "abseil",
+    "boost-beast",
+    "boost-program-options",
+    "boost-serialization",
+    "nlohmann-json"
+  ]
+}

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

@@ -0,0 +1,40 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO fuzzylite/fuzzylite
+    REF v6.0
+    SHA512 6f5d40d0359458e109ac2aebfbf571f61867a8b49920f4a5e1b5d86bdf578dba038b942c9e05eab0d4620f73e8cded770abe7b5e597a3b4c39dbcf6a1259f4af
+    HEAD_REF master
+)
+
+string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "static" FL_BUILD_STATIC)
+string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "dynamic" FL_BUILD_SHARED)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}/fuzzylite"
+    OPTIONS
+        -DFL_BUILD_SHARED=${FL_BUILD_SHARED}
+        -DFL_BUILD_STATIC=${FL_BUILD_STATIC}
+        -DFL_BUILD_BINARY=OFF
+        -DFL_BUILD_TESTS=OFF
+)
+
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/lib/pkgconfig")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/lib/pkgconfig")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "dynamic")
+    vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/fl/fuzzylite.h"
+        "#elif defined(FL_IMPORT_LIBRARY)"
+        "#elif 1"
+    )
+elseif(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+    vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/fl/fuzzylite.h"
+        "#elif defined(FL_IMPORT_LIBRARY)"
+        "#elif 0"
+    )
+endif()
+
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,15 @@
+{
+  "name": "fuzzylite",
+  "version": "6.0",
+  "port-version": 5,
+  "description": "A fuzzy logic control library in C++",
+  "homepage": "https://github.com/fuzzylite/fuzzylite",
+  "license": "GPL-3.0",
+  "supports": "!uwp",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    }
+  ]
+}

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

@@ -0,0 +1,18 @@
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO Maratyszcza/fxdiv
+    REF 63058eff77e11aa15bf531df5dd34395ec3017c8
+    SHA512 da33eab4d006645f383a1f24fc3e747db3aeb0613219297ec0ae69aa2617f07ba050ebd6a64a8cbde6d25481f176d0ec3b9753a95d1fbcead2136595f3e50e97
+)
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS
+        -DFXDIV_BUILD_TESTS=OFF
+        -DFXDIV_BUILD_BENCHMARKS=OFF
+)
+vcpkg_install_cmake()
+
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug)

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

@@ -0,0 +1,6 @@
+{
+  "name": "fxdiv",
+  "version-string": "2021-02-21",
+  "description": "C99/C++ header-only library for division via fixed-point multiplication by inverse",
+  "homepage": "https://github.com/Maratyszcza/FXdiv"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/g2o/portfile.cmake

@@ -0,0 +1,43 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO RainerKuemmerle/g2o
+    REF fcba4eaca6f20d9a5792404cc8ef303aeb8ba5d2
+    SHA512 41e5a6d40db10d66182653d56f937f29264bf4f9412dfa651be949caeb055741c9d9ba75a122180892aafe7d45b334d50470284121148c0561e1d49f6ba5e20a
+    HEAD_REF master
+)
+
+string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "dynamic" BUILD_LGPL_SHARED_LIBS)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS
+        -DBUILD_LGPL_SHARED_LIBS=${BUILD_LGPL_SHARED_LIBS}
+        -DG2O_BUILD_EXAMPLES=OFF
+        -DG2O_BUILD_APPS=OFF
+)
+
+vcpkg_install_cmake()
+
+vcpkg_copy_pdbs()
+
+vcpkg_fixup_cmake_targets(CONFIG_PATH lib/cmake/g2o)
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL dynamic)
+    file(GLOB_RECURSE HEADERS "${CURRENT_PACKAGES_DIR}/include/*")
+    foreach(HEADER ${HEADERS})
+        file(READ ${HEADER} HEADER_CONTENTS)
+        string(REPLACE "#ifdef G2O_SHARED_LIBS" "#if 1" HEADER_CONTENTS "${HEADER_CONTENTS}")
+        file(WRITE ${HEADER} "${HEADER_CONTENTS}")
+    endforeach()
+endif()
+
+file(GLOB EXE ${CURRENT_PACKAGES_DIR}/bin/*.exe)
+file(GLOB DEBUG_EXE ${CURRENT_PACKAGES_DIR}/debug/bin/*.exe)
+if(EXE OR DEBUG_EXE)
+    file(REMOVE ${EXE} ${DEBUG_EXE})
+endif()
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/share)
+
+file(INSTALL ${SOURCE_PATH}/doc/license-bsd.txt DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/g2o/vcpkg.json

@@ -0,0 +1,13 @@
+{
+  "name": "g2o",
+  "version-string": "2020-02-07",
+  "port-version": 2,
+  "description": "g2o: A General Framework for Graph Optimization",
+  "homepage": "https://openslam.org/g2o.html",
+  "dependencies": [
+    "ceres",
+    "eigen3",
+    "lapack",
+    "suitesparse"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/g3log/portfile.cmake

@@ -0,0 +1,36 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO KjellKod/g3log
+    REF 2fca06ff6da5c67465b591f4d45e8fd14d531142 #v1.3.4
+    SHA512 8dba89e5a08e44d585478470725e25e37486685d8fe4d3cb5e97c81013389c95d96bdde658244e425008169bc8a9fc2d34a065b83b110c62e73d3ccab9b2b9e1
+    HEAD_REF master
+)
+
+string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "dynamic" G3_SHARED_LIB)
+string(COMPARE EQUAL "${VCPKG_CRT_LINKAGE}" "dynamic" G3_SHARED_RUNTIME)
+
+# https://github.com/KjellKod/g3log#prerequisites
+set(VERSION "1.3.4")
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS
+        -DG3_SHARED_LIB=${G3_SHARED_LIB} # Options.cmake
+        -DG3_SHARED_RUNTIME=${G3_SHARED_RUNTIME} # Options.cmake
+        -DADD_FATAL_EXAMPLE=OFF
+        -DADD_G3LOG_BENCH_PERFORMANCE=OFF
+        -DADD_G3LOG_UNIT_TEST=OFF
+        -DVERSION=${VERSION}
+)
+
+vcpkg_install_cmake()
+
+vcpkg_copy_pdbs()
+
+vcpkg_fixup_cmake_targets(CONFIG_PATH lib/cmake/g3log)
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+
+# Handle copyright
+configure_file(${SOURCE_PATH}/LICENSE ${CURRENT_PACKAGES_DIR}/share/${PORT}/copyright COPYONLY)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/g3log/vcpkg.json

@@ -0,0 +1,8 @@
+{
+  "name": "g3log",
+  "version": "1.3.4",
+  "port-version": 2,
+  "description": "Asynchronous logger with Dynamic Sinks",
+  "homepage": "https://github.com/KjellKod/g3log",
+  "supports": "!(arm | uwp)"
+}

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

@@ -0,0 +1,44 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a443b66..61ff7b8 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -9,11 +9,11 @@ option(GAINPUT_TESTS "Build Tests for Gainput" ON)
+ option(GAINPUT_BUILD_SHARED "BUILD_SHARED" ON)
+ option(GAINPUT_BUILD_STATIC "BUILD_STATIC" ON)
+ 
+-if(!WIN32)
++if(NOT WIN32)
+ 	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -pedantic -Wextra")
+ else()
+ 	set(XINPUT "Xinput9_1_0")
+-	if ( ${CMAKE_SYSTEM_VERSION} LESS 6.1 )
++	if ( ${CMAKE_SYSTEM_VERSION} VERSION_LESS 6.1 )
+ 		set(XINPUT, "xinput")
+ 	endif()
+ endif()
+diff --git a/lib/CMakeLists.txt b/lib/CMakeLists.txt
+index cb7232f..a6ae3d9 100644
+--- a/lib/CMakeLists.txt
++++ b/lib/CMakeLists.txt
+@@ -55,15 +55,21 @@ elseif(APPLE)
+ 	find_library(FOUNDATION Foundation)
+ 	find_library(IOKIT IOKit)
+   find_library(GAME_CONTROLLER GameController)
++	if (GAINPUT_BUILD_SHARED)
+ 	target_link_libraries(gainput ${FOUNDATION} ${IOKIT} ${GAME_CONTROLLER})
++	endif()
+   if(IOS)
+       find_library(UIKIT UIKit)
+       find_library(COREMOTION CoreMotion)
+       find_library(QUARTZCORE QuartzCore)
++      if (GAINPUT_BUILD_SHARED)
+       target_link_libraries(gainput ${UIKIT} ${COREMOTION})
++      endif()
+   else()
+       find_library(APPKIT AppKit)
++      if (GAINPUT_BUILD_SHARED)
+       target_link_libraries(gainput ${APPKIT})
++      endif()
+   endif()
+ endif()
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/gainput/install_as_cmake_package.patch

@@ -0,0 +1,69 @@
+diff --git a/lib/CMakeLists.txt b/lib/CMakeLists.txt
+index 14d5e85..cb7232f 100644
+--- a/lib/CMakeLists.txt
++++ b/lib/CMakeLists.txt
+@@ -30,19 +30,27 @@ if (GAINPUT_BUILD_SHARED)
+ endif (GAINPUT_BUILD_SHARED)
+ 
+ if (GAINPUT_BUILD_STATIC)
+-  message(STATUS "..Building shared libraries (-DGAINPUT_BUILD_STATIC=OFF to disable)")
++  message(STATUS "..Building static libraries (-DGAINPUT_BUILD_STATIC=OFF to disable)")
+   add_library(gainputstatic STATIC ${sources} ${mmsources})
+   set_target_properties(gainputstatic PROPERTIES DEBUG_POSTFIX -d FOLDER gainput)
+   set(install_libs ${install_libs} gainputstatic)
+ endif (GAINPUT_BUILD_STATIC)
+ 
+ if(WIN32)
+-	target_link_libraries(gainput ${XINPUT} ws2_32)
+-	target_link_libraries(gainputstatic ${XINPUT} ws2_32)
++  if (GAINPUT_BUILD_SHARED)
++    target_link_libraries(gainput ${XINPUT} ws2_32)
++  endif(GAINPUT_BUILD_SHARED)
++  if(GAINPUT_BUILD_STATIC)
++    target_link_libraries(gainputstatic ${XINPUT} ws2_32)
++  endif(GAINPUT_BUILD_STATIC)
+ 	add_definitions(-DGAINPUT_LIB_DYNAMIC=1)
+ elseif(ANDROID)
+-	target_link_libraries(gainputstatic native_app_glue log android)
+-	target_link_libraries(gainput native_app_glue log android)
++  if (GAINPUT_BUILD_SHARED)
++    target_link_libraries(gainput native_app_glue log android)
++  endif(GAINPUT_BUILD_SHARED)
++  if(GAINPUT_BUILD_STATIC)
++    target_link_libraries(gainputstatic native_app_glue log android)
++  endif(GAINPUT_BUILD_STATIC)
+ elseif(APPLE)
+ 	find_library(FOUNDATION Foundation)
+ 	find_library(IOKIT IOKit)
+@@ -65,6 +73,14 @@ if(NOT DEFINED CMAKE_INSTALL_LIBDIR)
+ endif(NOT DEFINED CMAKE_INSTALL_LIBDIR)
+ set(libdir ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR})
+ 
++foreach(t ${install_libs})
++    target_include_directories(
++        ${t}
++        INTERFACE $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
++                  $<INSTALL_INTERFACE:include>
++    )
++endforeach()
++
+ install(
+     DIRECTORY "include/gainput"
+     DESTINATION "include"
+@@ -73,7 +89,15 @@ install(
+ 
+ install(
+     TARGETS ${install_libs}
++    EXPORT  unofficial-${PROJECT_NAME}-Targets
+     LIBRARY DESTINATION "${libdir}"
+     ARCHIVE DESTINATION "${libdir}"
+     RUNTIME DESTINATION "bin"
+ )
++
++install(
++    EXPORT unofficial-${PROJECT_NAME}-Targets
++    FILE unofficial-${PROJECT_NAME}Config.cmake
++    NAMESPACE unofficial::${PROJECT_NAME}::
++    DESTINATION share/unofficial-${PROJECT_NAME}
++)
+

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

@@ -0,0 +1,34 @@
+if (VCPKG_TARGET_IS_OSX)
+    vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+endif()
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO jkuhlmann/gainput
+    REF v1.0.0
+    SHA512 56fdc4c0613d7260861885b270ebe9e624e940175f41e3ac82516e2eb0d6d229e405fbcc2e54608e7d6751c1d8658b5b5e186153193badc6487274cb284a8cd6
+    HEAD_REF master
+    PATCHES 
+        install_as_cmake_package.patch
+        fix-build.patch
+)
+
+string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "static" GAINPUT_BUILD_STATIC)
+string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "dynamic" GAINPUT_BUILD_SHARED)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DGAINPUT_BUILD_SHARED=${GAINPUT_BUILD_SHARED}
+        -DGAINPUT_BUILD_STATIC=${GAINPUT_BUILD_STATIC}
+        -DGAINPUT_TESTS=OFF
+        -DGAINPUT_SAMPLES=OFF
+)
+
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+
+vcpkg_cmake_config_fixup(PACKAGE_NAME unofficial-gainput CONFIG_PATH share/unofficial-gainput)
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,19 @@
+{
+  "name": "gainput",
+  "version": "1.0.0",
+  "port-version": 5,
+  "description": "Gainput is a multiplatform C++ input library, supporting mouse, keyboard and controllers",
+  "homepage": "https://github.com/jkuhlmann/gainput",
+  "license": "MIT",
+  "supports": "!uwp",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

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

@@ -0,0 +1,48 @@
+if (VCPKG_HOST_IS_LINUX)
+    message(WARNING "gamedev-framework requires gcc version 8.3 or later.")
+endif()
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO GamedevFramework/gf
+    HEAD_REF master
+    REF v0.20.0
+    SHA512 57b0e87f8713268d7bd4e68fb65f57715af6617582e3ce342a10a66f2ebfeeacdd11e1df0abbd13a2d1d9e6222def94bcf7b522ef5411043668e4c6f0fea1dd7
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS
+        -DGF_VCPKG=ON
+        -DGF_USE_EMBEDDED_LIBS=OFF
+        -DGF_BUILD_GAMES=OFF
+        -DGF_BUILD_EXAMPLES=OFF
+        -DGF_BUILD_DOCUMENTATION=OFF
+        -DGF_SINGLE_COMPILTATION_UNIT=ON
+        -DBUILD_TESTING=OFF
+        -DBUILD_SHARED_LIBS=${BUILD_SHARED_LIBS}
+    OPTIONS_RELEASE -DGF_DEBUG=OFF
+    OPTIONS_DEBUG -DGF_DEBUG=ON
+)
+
+vcpkg_install_cmake()
+vcpkg_fixup_cmake_targets(CONFIG_PATH lib/cmake/gf TARGET_PATH share/gf)
+vcpkg_copy_pdbs()
+
+file(REMOVE_RECURSE
+    "${CURRENT_PACKAGES_DIR}/debug/share"
+    "${CURRENT_PACKAGES_DIR}/debug/include"
+    "${CURRENT_PACKAGES_DIR}/share/doc"
+    "${CURRENT_PACKAGES_DIR}/debug/bin/gf_info.exe"
+    "${CURRENT_PACKAGES_DIR}/bin/gf_info.exe"
+)
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+    file(REMOVE_RECURSE
+        "${CURRENT_PACKAGES_DIR}/bin"
+        "${CURRENT_PACKAGES_DIR}/debug/bin"
+    )
+endif()
+
+file(INSTALL ${SOURCE_PATH}/LICENSE.txt DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/gamedev-framework/vcpkg.json

@@ -0,0 +1,35 @@
+{
+  "name": "gamedev-framework",
+  "version-semver": "0.20.0",
+  "port-version": 2,
+  "maintainers": [
+    "Julien Bernard <[email protected]>",
+    "Arthur Hugeat <[email protected]>"
+  ],
+  "description": "gamedev-framework is a framework to build 2D games in C++17",
+  "homepage": "https://gamedevframework.github.io/",
+  "license": "Zlib",
+  "supports": "!arm",
+  "dependencies": [
+    "boost-algorithm",
+    "boost-container",
+    "boost-filesystem",
+    "boost-heap",
+    "freetype",
+    "pugixml",
+    {
+      "name": "sdl2",
+      "default-features": false,
+      "features": [
+        "x11"
+      ],
+      "platform": "linux"
+    },
+    {
+      "name": "sdl2",
+      "platform": "!linux"
+    },
+    "stb",
+    "zlib"
+  ]
+}

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

@@ -0,0 +1,33 @@
+vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO ValveSoftware/GameNetworkingSockets
+    REF b99aa75ed9b1ec57d5c90ee009f8de8882eeca13 # v1.4.0
+    SHA512 1776a6a66d2c6546a8a3d71123544ea9590ab6b123d4a92eebd38c0a195f09a55185b999250c518527e1d8983176732429901a2f781a883715e6695b597229f5
+    HEAD_REF master
+)
+
+set(CRYPTO_BACKEND OpenSSL)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS
+        -DBUILD_TESTS=OFF
+        -DBUILD_EXAMPLES=OFF
+        -DBUILD_TOOLS=OFF
+        -DUSE_CRYPTO=${CRYPTO_BACKEND}
+        -DUSE_CRYPTO25519=${CRYPTO_BACKEND}
+)
+
+vcpkg_install_cmake()
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+
+vcpkg_fixup_cmake_targets(CONFIG_PATH "lib/cmake/GameNetworkingSockets" TARGET_PATH "share/GameNetworkingSockets")
+vcpkg_fixup_pkgconfig()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+vcpkg_copy_pdbs()

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

@@ -0,0 +1,12 @@
+{
+  "name": "gamenetworkingsockets",
+  "version": "1.4.0",
+  "description": "GameNetworkingSockets is a basic transport layer for games.",
+  "homepage": "https://github.com/ValveSoftware/GameNetworkingSockets",
+  "license": "BSD-3-Clause",
+  "supports": "!(static & windows) & !uwp & !(arm64 & windows)",
+  "dependencies": [
+    "openssl",
+    "protobuf"
+  ]
+}

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

@@ -0,0 +1,41 @@
+cmake_minimum_required (VERSION 3.0)
+
+project (gamma)
+
+# dependent on libsndfile and portaudio
+find_package(SndFile CONFIG REQUIRED)
+find_path(PORTAUDIO_H portaudio.h)
+find_library(PORTAUDIO_LIB NAMES portaudio)
+
+set(SOURCEFILES
+        src/arr.cpp
+        src/AudioIO.cpp
+        src/Conversion.cpp
+        src/Domain.cpp
+        src/DFT.cpp
+        src/FFT_fftpack.cpp
+        src/fftpack++1.cpp
+        src/fftpack++2.cpp
+        src/SoundFile.cpp
+        src/Print.cpp
+        src/Recorder.cpp
+        src/scl.cpp
+        src/Scheduler.cpp
+        src/Timer.cpp
+        src/SoundFile.cpp)
+
+include_directories(. Gamma ${CMAKE_INSTALL_FULL_INCLUDEDIR} ${PORTAUDIO_H})
+
+add_library (gamma ${SOURCEFILES})
+target_link_libraries(gamma PUBLIC SndFile::sndfile ${PORTAUDIO_LIB})
+
+install(
+  TARGETS gamma
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+)
+
+if(NOT DISABLE_INSTALL_HEADERS)
+    install(DIRECTORY Gamma DESTINATION include FILES_MATCHING PATTERN "*.h")
+endif()

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

@@ -0,0 +1,25 @@
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+set(GAMMA_RELEASE_TAG "cc442ad0c5da369966cd937a96925c7b9a04e9e5")
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO "LancePutnam/Gamma"
+    REF ${GAMMA_RELEASE_TAG}
+    SHA512 431f17f053ca1c5ba0117b7ae7af8efae9df454593437de00dfea8ee04991b5701bee99d79deb074e60e397981a7fc1ce3476ec118d0f369e71e2cbaa696383d
+    HEAD_REF master
+)
+
+file(COPY ${CMAKE_CURRENT_LIST_DIR}/CMakeLists.txt DESTINATION ${SOURCE_PATH})
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS_DEBUG -DDISABLE_INSTALL_HEADERS=1
+)
+
+vcpkg_install_cmake()
+vcpkg_copy_pdbs()
+
+# Handle copyright
+file(INSTALL ${SOURCE_PATH}/COPYRIGHT DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

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

@@ -0,0 +1,11 @@
+{
+  "name": "gamma",
+  "version-string": "gamma-2018-01-27",
+  "port-version": 3,
+  "description": "Gamma is a cross-platform, C++ library for doing generic synthesis and filtering of signals. It is oriented towards real-time sound and graphics applications, but is equally useful for non-real-time tasks. Gamma is designed to be \"light-footed\" in terms of memory and processing making it highly suitable for plug-in development or embedding in other C++ projects.",
+  "homepage": "https://github.com/LancePutnam/Gamma",
+  "dependencies": [
+    "libsndfile",
+    "portaudio"
+  ]
+}

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

@@ -0,0 +1,19 @@
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 0cba691..51e47a3 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -1,3 +1,13 @@
+ file(GLOB GASol_SRC *.cpp)
+ add_library(GASol STATIC ${GASol_SRC})
+ 
++file(GLOB GASol_INCLUDES *.h)
++
++install(FILES ${GASol_INCLUDES} DESTINATION include)
++
++install(
++  TARGETS GASol
++  RUNTIME DESTINATION bin
++  LIBRARY DESTINATION lib
++  ARCHIVE DESTINATION lib
++)
+

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

@@ -0,0 +1,31 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 4a21f65..a4cede0 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -15,11 +15,15 @@ set(CMAKE_CXX_EXTENSIONS OFF)
+ # Find OpenMP.
+ find_package(OpenMP)
+ if (OPENMP_FOUND)
+-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS} -fPIC -Wall -Wextra -Werror -pedantic")
++    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS} -fPIC -pedantic")
+ else()
+-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -Wall -Wextra -Werror -pedantic")
++    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -pedantic")
+ endif()
+ 
++if(CMAKE_COMPILER_IS_GNUCXX)
++    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Werror")
++endif(CMAKE_COMPILER_IS_GNUCXX)
++
+ if (COV)
+     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} --coverage")
+ endif()
+@@ -39,7 +43,7 @@ endif()
+ add_subdirectory(src)
+ 
+ # GASol test dir.
+-add_subdirectory(unittest)
++# add_subdirectory(unittest)
+ 
+ # GASol run dir.
+ add_subdirectory(example)

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

@@ -0,0 +1,23 @@
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO PytLab/GASol
+    REF 05af009bca2903c1cc491c9a6eed01bc3c936637
+    SHA512 a8546bf565a389b919dd1dd5b88b4985c1803cbb09fab0715d1b0abfda92a6bf3adea7e4b3329ad82a6f6892f1747a73a632687fd79fb77c937e7ba07c62268a
+    HEAD_REF master
+    PATCHES
+       gasol.patch
+       fix-install.patch
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+)
+
+vcpkg_install_cmake()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

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

@@ -0,0 +1,8 @@
+{
+  "name": "gasol",
+  "version-date": "2018-01-04",
+  "port-version": 2,
+  "description": "A general Genetic Algorithm Solver in C++",
+  "homepage": "https://github.com/PytLab/GASol",
+  "supports": "!uwp & !arm"
+}

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

@@ -0,0 +1,14 @@
+# header-only library
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO LukasBanana/GaussianLib
+    REF 8630d4ac14a37f01c71bdf0c1c653e3746aa08da
+    SHA512 70de394496f20fe7037782d16cfa4bcd85beefdb25094247b8b572e6bb55866be6e2c82722d705141919b91f24428dde7b32f3d8a39670e7ef324c81b1ebe7e2
+    HEAD_REF master
+)
+
+file(COPY ${SOURCE_PATH}/include/Gauss DESTINATION ${CURRENT_PACKAGES_DIR}/include)
+
+# Handle copyright
+configure_file(${SOURCE_PATH}/LICENSE.txt ${CURRENT_PACKAGES_DIR}/share/${PORT}/copyright COPYONLY)

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

@@ -0,0 +1,7 @@
+{
+  "name": "gaussianlib",
+  "version-string": "2019-08-04",
+  "port-version": 1,
+  "description": "Basic linear algebra C++ library for 2D and 3D applications",
+  "homepage": "https://github.com/LukasBanana/GaussianLib"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/gazebo/0001-Fix-deps.patch

@@ -0,0 +1,102 @@
+diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
+index 4085b5aaeb..f89ac88333 100644
+--- a/cmake/SearchForStuff.cmake
++++ b/cmake/SearchForStuff.cmake
+@@ -179,7 +179,7 @@ if (PKG_CONFIG_FOUND)
+   # (needed, at least, for MacOS)
+ 
+   # Use system installation on UNIX and Apple, and internal copy on Windows
+-  if (UNIX OR APPLE)
++  if (true)
+     message (STATUS "Using system tinyxml.")
+     set (USE_EXTERNAL_TINYXML True)
+   elseif(WIN32)
+@@ -225,7 +225,7 @@ if (PKG_CONFIG_FOUND)
+   # (needed, at least, for MacOS)
+ 
+   # Use system installation on UNIX and Apple, and internal copy on Windows
+-  if (UNIX OR APPLE)
++  if (true)
+     message (STATUS "Using system tinyxml2.")
+     set (USE_EXTERNAL_TINYXML2 True)
+   elseif(WIN32)
+@@ -513,7 +513,7 @@ if (PKG_CONFIG_FOUND)
+   endif ()
+ 
+   if (libavutil_FOUND AND libavformat_FOUND AND libavcodec_FOUND AND
+-      libswscale_FOUND)
++      libswscale_FOUND AND FFMPEG_FEATURE)
+     set (HAVE_FFMPEG TRUE)
+   else ()
+     set (HAVE_FFMPEG FALSE)
+@@ -538,7 +538,7 @@ if (PKG_CONFIG_FOUND)
+   ########################################
+   # Find GNU Triangulation Surface Library
+   pkg_check_modules(gts gts)
+-  if (gts_FOUND)
++  if (GTS_FEATURE)
+     message (STATUS "Looking for GTS - found")
+     set (HAVE_GTS TRUE)
+   else ()
+@@ -551,13 +551,14 @@ if (PKG_CONFIG_FOUND)
+   # First and preferred option is to look for bullet standard pkgconfig,
+   # so check it first. if it is not present, check for the OSRF
+   # custom bullet2.82.pc file
+-  pkg_check_modules(BULLET bullet>=2.82)
++  find_package(BULLET CONFIG 2.82)
+   if (NOT BULLET_FOUND)
+      pkg_check_modules(BULLET bullet2.82>=2.82)
+   endif()
+ 
+   if (BULLET_FOUND)
+     set (HAVE_BULLET TRUE)
++    set(BULLET_VERSION ${BULLET_VERSION_STRING})
+     add_definitions( -DLIBBULLET_VERSION=${BULLET_VERSION} )
+   else()
+     set (HAVE_BULLET FALSE)
+@@ -572,7 +573,7 @@ if (PKG_CONFIG_FOUND)
+   ########################################
+   # Find libusb
+   pkg_check_modules(libusb-1.0 libusb-1.0)
+-  if (NOT libusb-1.0_FOUND)
++  if (NO_LIBUSB_FEATURE)
+     BUILD_WARNING ("libusb-1.0 not found. USB peripherals support will be disabled.")
+     set (HAVE_USB OFF CACHE BOOL "HAVE USB" FORCE)
+   else()
+@@ -648,7 +649,7 @@ endif ()
+ ########################################
+ # Find gdal
+ include (FindGDAL)
+-if (NOT GDAL_FOUND)
++if (NO_GDAL_FEATURE)
+   message (STATUS "Looking for libgdal - not found")
+   BUILD_WARNING ("GDAL not found, Digital elevation terrains support will be disabled.")
+   set (HAVE_GDAL OFF CACHE BOOL "HAVE GDAL" FORCE)
+@@ -718,7 +719,7 @@ endif()
+ ########################################
+ # Find graphviz
+ include (${gazebo_cmake_dir}/FindGraphviz.cmake)
+-if (NOT GRAPHVIZ_FOUND)
++if (NO_GRAPHVIZ_FEATURE)
+   message (STATUS "Looking for libgraphviz-dev - not found")
+   BUILD_WARNING ("Graphviz not found, Model editor's schematic view will be disabled.")
+   set (HAVE_GRAPHVIZ OFF CACHE BOOL "HAVE GRAPHVIZ" FORCE)
+diff --git a/cmake/gazebo-config.cmake.in b/cmake/gazebo-config.cmake.in
+index b57a90dd76..63ce97095e 100644
+--- a/cmake/gazebo-config.cmake.in
++++ b/cmake/gazebo-config.cmake.in
+@@ -99,12 +99,13 @@ list(APPEND @PKG_NAME@_CFLAGS -I${GAZEBO_INSTALL_INCLUDE_DIR}/gazebo-@GAZEBO_MAJ
+ 
+ if (GAZEBO_HAS_BULLET)
+   if (PKG_CONFIG_FOUND)
+-    pkg_check_modules(BULLET bullet>=2.82)
++    find_package(BULLET CONFIG 2.82)
+     if (NOT BULLET_FOUND)
+        pkg_check_modules(BULLET bullet2.82>=2.82)
+     endif()
+ 
+     if (BULLET_FOUND)
++      set(BULLET_VERSION ${BULLET_VERSION_STRING})
+       add_definitions(-DLIBBULLET_VERSION=${BULLET_VERSION})
+     else()
+       message(FATAL_ERROR "Error: Bullet > 2.82 not found, please install libbullet2.82-dev.")

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

@@ -0,0 +1,52 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO osrf/gazebo
+    REF 382dcc3f36095a8d79b5bc9c8b8ad346e867c51d
+    SHA512 57638cd0b23b5f2bfd32fdc159d6cd77ca34e3bd695c225591979aef4b7271eac93d3706fa1ffa2340f90013267a4171bebe1e4c142f19ad2bf67963dfed627e
+    HEAD_REF gazebo11
+    PATCHES
+        0001-Fix-deps.patch
+)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        openal    HAVE_OPENAL
+        ffmpeg    FFMPEG_FEATURE
+        gts       GTS_FEATURE
+    INVERTED_FEATURES
+        simbody   CMAKE_DISABLE_FIND_PACKAGE_Simbody
+        dart      CMAKE_DISABLE_FIND_PACKAGE_DART
+        bullet    CMAKE_DISABLE_FIND_PACKAGE_BULLET
+        libusb    NO_LIBUSB_FEATURE
+        gdal      NO_GDAL_FEATURE
+        graphviz  NO_GRAPHVIZ_FEATURE
+)
+
+vcpkg_add_to_path("${CURRENT_INSTALLED_DIR}/debug/bin")
+vcpkg_add_to_path("${CURRENT_INSTALLED_DIR}/bin")
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DUSE_EXTERNAL_TINY_PROCESS_LIBRARY=ON
+        -DPKG_CONFIG_EXECUTABLE=${CURRENT_HOST_INSTALLED_DIR}/tools/pkgconf/pkgconf.exe
+        ${FEATURE_OPTIONS}
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH "lib/cmake/gazebo")
+vcpkg_copy_pdbs()
+
+vcpkg_copy_tools(
+    TOOL_NAMES gazebo gz gzclient gzserver
+    AUTO_CLEAN
+)
+set(EXTRA_OGRE_LIBS Codec_EXR Codec_FreeImage Codec_STBI OgreBites OgreMain OgreMeshLodGenerator OgreOverlay OgrePaging OgreProperty OgreRTShaderSystem OgreTerrain OgreVolume Plugin_BSPSceneManager Plugin_DotScene Plugin_OctreeSceneManager Plugin_OctreeZone Plugin_ParticleFX Plugin_PCZSceneManager RenderSystem_Direct3D11 RenderSystem_GL RenderSystem_GL3Plus)
+foreach(LIB IN LISTS EXTRA_OGRE_LIBS)
+    set(FILE_NAME "${CMAKE_SHARED_LIBRARY_PREFIX}${LIB}${CMAKE_SHARED_LIBRARY_SUFFIX}")
+    file(COPY "${CURRENT_INSTALLED_DIR}/bin/${FILE_NAME}" DESTINATION "${CURRENT_PACKAGES_DIR}/tools/${PORT}")
+endforeach()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include" "${CURRENT_PACKAGES_DIR}/debug/share")
+
+# Handle copyright
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,125 @@
+{
+  "name": "gazebo",
+  "version-date": "2022-01-20",
+  "description": "Open source robotics simulator.",
+  "homepage": "http://gazebosim.org",
+  "license": "Apache-2.0",
+  "dependencies": [
+    "boost-asio",
+    "boost-date-time",
+    "boost-filesystem",
+    "boost-format",
+    "boost-interprocess",
+    "boost-iostreams",
+    "boost-program-options",
+    "boost-property-tree",
+    "boost-regex",
+    "boost-system",
+    "boost-thread",
+    "boost-uuid",
+    "ccd",
+    {
+      "name": "hdf5",
+      "features": [
+        "cpp"
+      ]
+    },
+    "ignition-common3",
+    "ignition-fuel-tools4",
+    "ignition-math6",
+    "ignition-msgs5",
+    "ignition-transport8",
+    "ogre",
+    {
+      "name": "pkgconf",
+      "host": true
+    },
+    "protobuf",
+    "qwt",
+    "sdformat9",
+    "tbb",
+    "tiny-process-library",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "default-features": [
+    "bullet",
+    "dart",
+    "ffmpeg",
+    "gdal",
+    "graphviz",
+    "gts",
+    "libusb",
+    "openal",
+    "simbody"
+  ],
+  "features": {
+    "bullet": {
+      "description": "Use the bullet physics engine",
+      "dependencies": [
+        "bullet3"
+      ]
+    },
+    "dart": {
+      "description": "Use the dart physics engine",
+      "dependencies": [
+        "dartsim"
+      ]
+    },
+    "ffmpeg": {
+      "description": "Enable audio-video capabilities",
+      "dependencies": [
+        {
+          "name": "ffmpeg",
+          "features": [
+            "avcodec",
+            "avformat",
+            "swscale"
+          ]
+        }
+      ]
+    },
+    "gdal": {
+      "description": "Enable digital elevation terrains support",
+      "dependencies": [
+        "gdal"
+      ]
+    },
+    "graphviz": {
+      "description": "Enable model editor's schematic view",
+      "dependencies": [
+        "graphviz"
+      ]
+    },
+    "gts": {
+      "description": "Enable CSG support",
+      "dependencies": [
+        "gts"
+      ]
+    },
+    "libusb": {
+      "description": "Enable USB peripheral support",
+      "dependencies": [
+        "libusb"
+      ]
+    },
+    "openal": {
+      "description": "Enable audio support",
+      "dependencies": [
+        "openal-soft"
+      ]
+    },
+    "simbody": {
+      "description": "Use the simbody physics engine",
+      "dependencies": [
+        "simbody"
+      ]
+    }
+  }
+}

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

@@ -0,0 +1,22 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO kthohr/gcem
+    REF a20b0fc0206ff7d99a96fe4afdfe8205b01c8220 # v1.13.1
+    SHA512 baede14856ddcf8f132c7a16b19d4d646a1fc2d5e3a536a46694a8d7c656ce4ffb2fd61f50a1df78ce7ed31528828152b4e881fe10bcead553985b6103018804
+    HEAD_REF master
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+)
+
+vcpkg_install_cmake()
+
+vcpkg_fixup_cmake_targets(CONFIG_PATH lib/cmake/gcem)
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/lib)
+
+# Handle copyright
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

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

@@ -0,0 +1,6 @@
+{
+  "name": "gcem",
+  "version-string": "1.13.1",
+  "port-version": 1,
+  "description": "A C++ compile-time math library using generalized constant expressions"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/gdal/0001-Fix-debug-crt-flags.patch

@@ -0,0 +1,43 @@
+diff --git a/gdal/nmake.opt b/gdal/nmake.opt
+index 8253ae2..9456b79 100644
+--- a/gdal/nmake.opt
++++ b/gdal/nmake.opt
+@@ -148,16 +148,26 @@ GDAL_PDB = $(GDAL_ROOT)\gdal$(VERSION)$(POSTFIX).pdb
+ !ENDIF
+ 
+ !IFDEF WITH_PDB
+-CXX_PDB_FLAGS=/Zi /Fd$(GDAL_PDB)
++CXX_PDB_FLAGS=/Z7 /Fd$(GDAL_PDB)
+ !ELSE
+ CXX_PDB_FLAGS=
+ !ENDIF
+ 
++# Flags to choose CRT variant to link against (e.g. static: /MT, /MTd, dynamic: /MD, /MDd)
++# Ensure MRSID_CONFIG in mrsid/nmake.opt is set appropriately as well
++!IFNDEF CXX_CRT_FLAGS
++!IFNDEF DEBUG
++CXX_CRT_FLAGS=/MD
++!ELSE
++CXX_CRT_FLAGS=/MDd
++!ENDIF
++!ENDIF
++
+ !IFNDEF OPTFLAGS
+ !IF "$(DEBUG)" == "0"
+-OPTFLAGS= $(CXX_ANALYZE_FLAGS) $(CXX_PDB_FLAGS) /nologo /MP$(CPU_COUNT) /MD /EHsc /Ox /FC /D_CRT_SECURE_NO_DEPRECATE /D_CRT_NONSTDC_NO_DEPRECATE /DNDEBUG
++OPTFLAGS= $(CXX_ANALYZE_FLAGS) $(CXX_PDB_FLAGS) /nologo /MP$(CPU_COUNT) $(CXX_CRT_FLAGS) /EHsc /Ox /D_CRT_SECURE_NO_DEPRECATE /D_CRT_NONSTDC_NO_DEPRECATE /DNDEBUG
+ !ELSE
+-OPTFLAGS= $(CXX_ANALYZE_FLAGS) $(CXX_PDB_FLAGS) /nologo /MP$(CPU_COUNT) /MDd /EHsc /FC /D_CRT_SECURE_NO_DEPRECATE /D_CRT_NONSTDC_NO_DEPRECATE /DDEBUG
++OPTFLAGS= $(CXX_ANALYZE_FLAGS) $(CXX_PDB_FLAGS) /nologo /MP$(CPU_COUNT) $(CXX_CRT_FLAGS) /EHsc /D_CRT_SECURE_NO_DEPRECATE /D_CRT_NONSTDC_NO_DEPRECATE /DDEBUG
+ !ENDIF
+ !ENDIF  # OPTFLAGS
+ 
+@@ -175,7 +185,7 @@ OPTFLAGS= $(CXX_ANALYZE_FLAGS) $(CXX_PDB_FLAGS) /nologo /MP$(CPU_COUNT) /MDd /EH
+ # 4351: new behavior: elements of array 'array' will be default initialized (needed for https://trac.osgeo.org/gdal/changeset/35593)
+ # 4611: interaction between '_setjmp' and C++ object destruction is non-portable
+ #
+-WARNFLAGS =	/W4 /wd4127 /wd4251 /wd4275 /wd4786 /wd4100 /wd4245 /wd4206 /wd4351 /wd4611
++WARNFLAGS =	/W3 /wd4127 /wd4251 /wd4275 /wd4786 /wd4100 /wd4245 /wd4206 /wd4351 /wd4611
+ 
+ !ENDIF
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/gdal/0002-Fix-build.patch

@@ -0,0 +1,38 @@
+diff --git a/gdal/makefile.vc b/gdal/makefile.vc
+index 9e0bd44..8559f79 100644
+--- a/gdal/makefile.vc
++++ b/gdal/makefile.vc
+@@ -84,7 +84,7 @@ staticlib:	$(LIB_DEPENDS)
+ 	call <<clean_main_build_output.bat
+ $(CLEAN_MAIN_BUILD_OUTPUT_CMDS)
+ <<
+-	lib /nologo /out:$(GDAL_LIB_NAME) $(LIBOBJ) $(EXTERNAL_LIBS)
++	lib /nologo /LTCG /out:$(GDAL_LIB_NAME) $(LIBOBJ) $(EXTERNAL_LIBS)
+ 
+ appslib-target:
+ 	cd apps
+@@ -204,9 +204,6 @@ dll:	$(GDAL_DLL)
+ 
+ # build using cygwin
+ docs:
+-!IFDEF HTMLDIR
+-	make PYTHONHOME= -C doc html
+-!ENDIF
+ 
+ bindings:
+ 	-for %d in ( $(BINDINGS) ) do \
+@@ -236,12 +233,8 @@ install: default docs
+ 	cd ..\apps
+ 	$(MAKE) /f makefile.vc install
+ 	cd ..
+-	$(INSTALL) data\*.* $(DATADIR)
+-	$(INSTALL) LICENSE.TXT $(DATADIR)
+-!IFDEF HTMLDIR
+-	-mkdir $(HTMLDIR)
+-	xcopy /S /Y doc\build\html $(HTMLDIR)
+-!ENDIF
++	$(INSTALL) data\*.* "$(DATADIR)"
++	$(INSTALL) LICENSE.TXT "$(DATADIR)"
+ !IFDEF INCLUDE_OGR_FRMTS
+ 	cd ogr\ogrsf_frmts
+ 	$(MAKE) /f makefile.vc plugins-install

third-party/DPVO/Pangolin/scripts/vcpkg/ports/gdal/0004-Fix-cfitsio.patch

@@ -0,0 +1,13 @@
+diff --git a/gdal/frmts/fits/fitsdataset.cpp b/gdal/frmts/fits/fitsdataset.cpp
+index d6587d3..f913b08 100644
+--- a/gdal/frmts/fits/fitsdataset.cpp
++++ b/gdal/frmts/fits/fitsdataset.cpp
+@@ -38,7 +38,7 @@
+ #include "ogrsf_frmts.h"
+ 
+ #include <string.h>
+-#include <fitsio.h>
++#include <cfitsio/fitsio.h>
+ 
+ #include <algorithm>
+ #include <string>

third-party/DPVO/Pangolin/scripts/vcpkg/ports/gdal/0005-Fix-configure.patch

@@ -0,0 +1,315 @@
+diff --git a/gdal/configure.ac b/gdal/configure.ac
+index 30cd613..43f1daf 100644
+--- a/gdal/configure.ac
++++ b/gdal/configure.ac
+@@ -48,6 +48,8 @@ dnl Compute the canonical host-system (the system we are building for)
+ dnl type variable $host
+ AC_CANONICAL_HOST
+ 
++PKG_PROG_PKG_CONFIG([0.21])
++
+ dnl Enable as much warnings as possible
+ AC_LANG_PUSH([C])
+ AX_COMPILER_VENDOR
+@@ -1336,12 +1338,15 @@ AC_MSG_CHECKING([for libtiff])
+ 
+ if test "x${with_libtiff}" = "xyes" -o "x${with_libtiff}" = "x" ; then
+ 
+-  dnl Only automatically pick up the external libtiff if it is >= 4.0.
+-  AC_CHECK_LIB(tiff,TIFFScanlineSize64,TIFF_SETTING=external HAVE_BIGTIFF=yes,TIFF_SETTING=internal HAVE_BIGTIFF=yes,)
++  PKG_CHECK_MODULES([TIFF],[libtiff-4 > 4.0], [TIFF_SETTING=external], [TIFF_SETTING=internal HAVE_BIGTIFF=yes])
+ 
+   if test "$TIFF_SETTING" = "external" ; then
+-    LIBS="-ltiff $LIBS"
+     AC_MSG_RESULT([using pre-installed libtiff.])
++    EXTRA_INCLUDES="$TIFF_CFLAGS $EXTRA_INCLUDES"
++    SAVED_LIBS="$LIBS"
++    LIBS="$TIFF_LIBS"
++    AC_SEARCH_LIBS(TIFFScanlineSize64,[],HAVE_BIGTIFF=yes,HAVE_BIGTIFF=no,)
++    LIBS="$TIFF_LIBS $SAVED_LIBS"
+   else
+     AC_MSG_RESULT([using internal TIFF code.])
+   fi
+@@ -1402,22 +1407,28 @@ AC_ARG_WITH(curl,
+ dnl Clear some cache variables
+ unset ac_cv_path_LIBCURL
+ 
++LIBCURL_MODVERSION=
+ if test "`basename xx/$with_curl`" = "curl-config" ; then
+   LIBCURL_CONFIG="$with_curl"
+ elif test "$with_curl" = "no" ; then
+   LIBCURL_CONFIG=no
++elif test "$with_curl" = "yes" -o "$with_curl" = "" ; then
++  PKG_CHECK_EXISTS([libcurl], [LIBCURL_CONFIG="${PKG_CONFIG} libcurl"], [LIBCURL_CONFIG=false])
++  LIBCURL_MODVERSION=`$LIBCURL_CONFIG --modversion`
+ else
+   AC_PATH_PROG(LIBCURL_CONFIG, curl-config, no)
+ fi
+ 
+ if test "$LIBCURL_CONFIG" != "no" ; then
+ 
+-  CURL_VERNUM=`$LIBCURL_CONFIG --vernum`
+-  CURL_VER=`$LIBCURL_CONFIG --version | awk '{print $2}'`
++  CURL_VER="`$LIBCURL_CONFIG --version | awk '{print $2}'`$LIBCURL_MODVERSION"
+ 
+   AC_MSG_RESULT([        found libcurl version $CURL_VER])
+ 
+-  AC_CHECK_LIB(curl,curl_global_init,CURL_SETTING=yes,CURL_SETTING=no,`$LIBCURL_CONFIG --libs`)
++  SAVED_LIBS="$LIBS"
++  LIBS=`$LIBCURL_CONFIG --libs`
++  AC_SEARCH_LIBS(curl_global_init,[],CURL_SETTING=yes,CURL_SETTING=no,)
++  LIBS="$SAVED_LIBS"
+ 
+ fi
+ 
+@@ -1431,7 +1442,9 @@ dnl Proj depends on it so it must appear before.
+ dnl ---------------------------------------------------------------------------
+ 
+ SQLITE3_REQ_VERSION="3.0.0"
+-AX_LIB_SQLITE3($SQLITE3_REQ_VERSION)
++AC_CHECK_LIB(sqlite3,sqlite3_open,HAVE_SQLITE3=yes,AC_MSG_ERROR([vcpkg sqlite3 not found]),)
++SQLITE3_CFLAGS=
++SQLITE3_LDFLAGS=-lsqlite3
+ 
+ if test "$HAVE_SQLITE3" = "yes"; then
+     LIBS="$SQLITE3_LDFLAGS $LIBS"
+@@ -1571,6 +1584,11 @@ HAVE_SPATIALITE=no
+ if test -z "$with_spatialite" -o "$with_spatialite" = "no"; then
+     AC_MSG_RESULT(disabled)
+ elif test "$with_spatialite" = "yes"; then
++    PKG_CHECK_MODULES([SPATIALITE],[spatialite >= 5],[HAVE_SPATIALITE=yes],AC_MSG_ERROR([vcpkg libspatialite not found]))
++    SPATIALITE_INC="$SPATIALITE_CFLAGS"
++    LIBS="$LIBS $SPATIALITE_LIBS"
++    ac_cv_lib_spatialite_spatialite_target_cpu=yes
++elif false; then
+     AC_CHECK_HEADERS(sqlite3.h)
+     if test "$ac_cv_header_sqlite3_h" = "yes"; then
+         AC_MSG_CHECKING([for spatialite.h in /usr/include or /usr/local/include])
+@@ -1639,6 +1652,19 @@ dnl ---------------------------------------------------------------------------
+ AC_ARG_WITH(liblzma,[  --with-liblzma[=ARG]       Include liblzma support (ARG=yes/no)],,)
+ 
+ if test "$with_liblzma" = "yes" ; then
++  PKG_CHECK_MODULES([LIBLZMA],[liblzma],[HAVE_LIBLZMA_PC=yes],[HAVE_LIBLZMA_PC=no])
++  SAVED_LIBS="$LIBS"
++  LIBS="$LIBLZMA_LIBS"
++  AC_SEARCH_LIBS(lzma_code,[],LIBLZMA_SETTING=yes,LIBLZMA_SETTING=no,)
++  if test "$LIBLZMA_SETTING" = "yes" ; then
++    LIBS="$LIBLZMA_LIBS $SAVED_LIBS"
++  elif test "$HAVE_LIBLZMA_PC" = "yes" ; then
++    AC_MSG_ERROR([vcpkg liblzma broken])
++  else
++    LIBS="$SAVED_LIBS"
++  fi
++
++elif false; then
+   AC_CHECK_LIB(lzma,lzma_code,LIBLZMA_SETTING=yes,LIBLZMA_SETTING=no,)
+   AC_CHECK_HEADERS(lzma.h)
+ 
+@@ -1661,6 +1687,19 @@ dnl ---------------------------------------------------------------------------
+ AC_ARG_WITH(zstd,[  --with-zstd[=ARG]       Include zstd support (ARG=yes/no/installation_prefix)],,)
+ 
+ if test "$with_zstd" = "" -o "$with_zstd" = "yes" ; then
++  PKG_CHECK_MODULES([ZSTD],[libzstd],[HAVE_LIBZSTD_PC=yes],[HAVE_LIBZSTD_PC=no])
++  SAVED_LIBS="$LIBS"
++  LIBS="$ZSTD_LIBS"
++  AC_SEARCH_LIBS(ZSTD_decompressStream,[],ZSTD_SETTING=yes,ZSTD_SETTING=no,)
++  if test "$ZSTD_SETTING" = "yes" ; then
++    LIBS="$ZSTD_LIBS $SAVED_LIBS"
++  elif test "$HAVE_LIBZSTD_PC" = "yes" ; then
++    AC_MSG_ERROR([vcpkg libzstd broken])
++  else
++    LIBS="$SAVED_LIBS"
++  fi
++
++elif false; then
+   AC_CHECK_LIB(zstd,ZSTD_decompressStream,ZSTD_SETTING=yes,ZSTD_SETTING=no,)
+ 
+   if test "$ZSTD_SETTING" = "yes" ; then
+@@ -1962,6 +2001,12 @@ else
+     SAVED_LIBS="${LIBS}"
+     LIBS="${PG_LIB}"
+     AC_CHECK_LIB(pq,PQconnectdb,HAVE_PG=yes,HAVE_PG=no)
++    if test "${HAVE_PG}" = "no" ; then
++      unset ac_cv_lib_pq_PQconnectdb
++      PG_LIB="${PG_LIB} -lpgcommon -lpgport"
++      LIBS="${PG_LIB} ${SAVED_LIBS}"
++      AC_CHECK_LIB(pq,PQconnectdb,HAVE_PG=yes,HAVE_PG=no,[-lpgcommon -lpgport])
++    fi
+     LIBS="${SAVED_LIBS}"
+     if test "${HAVE_PG}" = "yes" ; then
+       LIBS="${PG_LIB} ${LIBS}"
+@@ -2322,6 +2367,15 @@ AC_ARG_WITH(geotiff,[  --with-geotiff=ARG    Libgeotiff library to use (ARG=inte
+ 
+ if test "$with_geotiff" = "yes" -o "$with_geotiff" = "" ; then
+ 
++  AC_CHECK_LIB(geotiff,GTIFAttachPROJContext,GEOTIFF_SETTING=external,GEOTIFF_SETTING=internal)
++  if test $GEOTIFF_SETTING = "external" ; then
++    LIBS="-lgeotiff $LIBS"
++  else
++    AC_MSG_ERROR([vcpkg geotiff broken])
++  fi
++
++elif false; then
++
+   if test "$TIFF_SETTING" = "internal" ; then
+     GEOTIFF_SETTING=internal
+   else
+@@ -3005,7 +3059,7 @@ elif test "$with_hdf5" = "yes" -o "$with_hdf5" = "" ; then
+     # Test that the package found is for the right architecture
+     saved_LIBS="$LIBS"
+     LIBS="$HDF5_LIBS"
+-    AC_CHECK_LIB(hdf5,H5Fopen, [HAVE_HDF5=yes], [HAVE_HDF5=no])
++    AC_SEARCH_LIBS(H5Fopen,[],[HAVE_HDF5=yes],[HAVE_HDF5=no],)
+     LIBS="$saved_LIBS"
+ 
+     if test "$HAVE_HDF5" = "yes"; then
+@@ -3135,6 +3189,24 @@ if test "$with_netcdf" = "no" ; then
+ 
+   echo "netCDF support disabled."
+ 
++elif true ; then
++
++  PKG_CHECK_MODULES([NETCDF],[netcdf],[HAVE_NETCDF_PC=yes],[HAVE_NETCDF_PC=no])
++  SAVED_LIBS="$LIBS"
++  LIBS="$NETCDF_LIBS"
++  AC_SEARCH_LIBS(nc_open,[],NETCDF_SETTING=yes,NETCDF_SETTING=no,)
++  if test "$NETCDF_SETTING" = "yes" ; then
++    LIBS="$NETCDF_LIBS $SAVED_LIBS"
++    EXTRA_INCLUDES="$NETCDF_CFLAGS $EXTRA_INCLUDES"
++    PKG_CHECK_VAR([NETCDF_ROOT],[netcdf],[prefix],,)
++    PKG_CHECK_VAR([NETCDF_INCLUDEDIR],[netcdf],[includedir],,)
++    NETCDF_NCCONFIG=
++  elif test "$HAVE_NETCDF_PC" = "yes" ; then
++    AC_MSG_ERROR([vcpkg netcdf-c broken])
++  else
++    LIBS="$SAVED_LIBS"
++  fi
++
+ else
+ 
+   dnl find nc-config location
+@@ -3355,6 +3427,21 @@ if test "$with_openjpeg" = "no" ; then
+ 
+   AC_MSG_NOTICE([OpenJPEG (JPEG2000) support disabled.])
+ 
++elif true ; then
++
++  PKG_CHECK_MODULES([OPENJPEG],[libopenjp2 >= 2.1.0],[HAVE_LIBOPENJP2_PC=yes],[HAVE_LIBOPENJP2_PC=no])
++  SAVED_LIBS="$LIBS"
++  LIBS="$OPENJPEG_LIBS"
++  AC_SEARCH_LIBS(opj_setup_decoder,[],HAVE_OPENJPEG=yes,HAVE_OPENJPEG=no,)
++  if test "$HAVE_OPENJPEG" = "yes" ; then
++    EXTRA_INCLUDES="$OPENJPEG_CFLAGS $EXTRA_INCLUDES"
++    LIBS="$OPENJPEG_LIBS $SAVED_LIBS"
++  elif test "$HAVE_LIBOPENJP2_PC" = "yes" ; then
++    AC_MSG_ERROR([vcpkg libopenjpeg broken])
++  else
++    LIBS="$SAVED_LIBS"
++  fi
++
+ else
+ 
+   PKG_PROG_PKG_CONFIG([0.21])
+@@ -4046,7 +4133,9 @@ dnl ---------------------------------------------------------------------------
+ 
+ dnl Expat 1.95.0 released in 2000-09-28
+ EXPAT_REQ_VERSION="1.95.0"
+-AX_LIB_EXPAT($EXPAT_REQ_VERSION)
++PKG_CHECK_MODULES([EXPAT],[expat],[HAVE_EXPAT=yes],[AC_MSG_ERROR([vcpkg expat not found])])
++EXPAT_LDFLAGS="$EXPAT_LIBS"
++EXPAT_INCLUDE=""
+ 
+ if test "$HAVE_EXPAT" = "yes"; then
+     LIBS="$EXPAT_LDFLAGS $LIBS"
+@@ -4069,7 +4158,13 @@ dnl Check for Google libkml support.
+ dnl ---------------------------------------------------------------------------
+ 
+ LIBKML_REQ_VERSION="1.3.0"
++if test "x${with_libkml}" = "xno"; then
++    echo "libkml support disabled."
++    HAVE_LIBKML="no"
++    LIBKML_CFLAGS=
++else
+ AX_LIB_LIBKML($LIBKML_REQ_VERSION)
++fi
+ 
+ if test "$HAVE_LIBKML" = "yes"; then
+     LIBS="$LIBKML_LDFLAGS $LIBS"
+@@ -4252,8 +4347,8 @@ else
+       dnl Add curl to LIBS; it might be local to DODS or generally installed
+       if test -x $DODS_BIN/curl-config; then
+           LIBS="$LIBS  `$DODS_BIN/curl-config --libs`"
+-      elif which curl-config > /dev/null 2>&1; then
+-          LIBS="$LIBS  `curl-config --libs`"
++      elif test "$CURL_SETTING" = "yes"; then
++          LIBS="$LIBS $CURL_LIB"
+       else
+           AC_MSG_ERROR([You gave a dods root, but I can't find curl!])
+       fi
+@@ -4295,7 +4390,7 @@ if test "x$with_xml2" = "xyes" -o "x$with_xml2" = "x" ; then
+   if test "${HAVE_LIBXML2}" = "yes"; then
+     SAVED_LIBS="${LIBS}"
+     LIBS="${LIBXML2_LIBS}"
+-    AC_CHECK_LIB(xml2,xmlParseDoc,HAVE_LIBXML2=yes,HAVE_LIBXML2=no)
++    AC_SEARCH_LIBS(xmlParseDoc,[],HAVE_LIBXML2=yes,HAVE_LIBXML2=no,)
+     LIBS="${SAVED_LIBS}"
+   fi
+ 
+@@ -4509,6 +4604,22 @@ WEBP_SETTING=no
+ 
+ if test "$with_webp" = "yes" -o "$with_webp" = "" ; then
+ 
++  PKG_CHECK_MODULES([WEBP],[libwebp],[HAVE_LIBWEBP_PC=yes],[HAVE_LIBWEBP_PC=no])
++  SAVED_LIBS="$LIBS"
++  LIBS="$WEBP_LIBS"
++  AC_SEARCH_LIBS(WebPDecodeRGB,[],WEBP_SETTING=yes,WEBP_SETTING=no,)
++
++  if test "$WEBP_SETTING" = "yes" ; then
++    LIBS="$WEBP_LIBS $SAVED_LIBS"
++  elif test "$HAVE_LIBWEBP_PC" = "yes" ; then
++    AC_MSG_ERROR([vcpkg libwebp broken])
++  else
++    echo "libwebp not found - WEBP support disabled"
++    LIBS="$SAVED_LIBS"
++  fi
++
++elif false ; then
++
+   AC_CHECK_LIB(webp,WebPDecodeRGB,WEBP_SETTING=yes,WEBP_SETTING=no,)
+ 
+   if test "$WEBP_SETTING" = "yes" ; then
+@@ -4540,7 +4651,7 @@ dnl ---------------------------------------------------------------------------
+ dnl Check if geos library is available.
+ dnl ---------------------------------------------------------------------------
+ 
+-GEOS_INIT(3.1.0)
++PKG_CHECK_MODULES(GEOS,geos >= 3.1.0,HAVE_GEOS=yes,AC_MSG_ERROR([vcpkg geos not found]))
+ if test "${HAVE_GEOS}" = "yes" ; then
+   AC_MSG_NOTICE([Using C API from GEOS $GEOS_VERSION])
+   STRIP_SYSTEM_LIBRARY_PATHS("${GEOS_LIBS}")
+@@ -4779,6 +4890,16 @@ dnl ---------------------------------------------------------------------------
+ 
+ AC_ARG_WITH(libjson-c,[  --with-libjson-c[=ARG]       Include libjson-c support (ARG=internal or libjson-c directory)],,)
+ 
++PKG_CHECK_MODULES([JSONC],[json-c],[HAVE_JSONC=yes],[HAVE_JSONC=no])
++SAVED_LIBS="$LIBS"
++LIBS="$JSONC_LIBS"
++AC_SEARCH_LIBS(json_object_set_serializer,[],LIBJSONC_SETTING=external,LIBJSONC_SETTING=,)
++if test "$LIBJSONC_SETTING" = "external" ; then
++  LIBS="$JSONC_LIBS $SAVED_LIBS"
++  JSON_INCLUDE="$JSONC_CFLAGS"
++else
++  LIBS="$SAVED_LIBS"
++
+ if test "$with_libjson_c" = "external" -o "$with_libjson_c" = "" -o "$with_libjson_c" = "yes" ; then
+   AC_CHECK_LIB(json-c,json_object_set_serializer,LIBJSONC_SETTING=external,LIBJSONC_SETTING=internal,)
+ elif test "$with_libjson_c" = "internal" ; then
+@@ -4807,6 +4928,8 @@ else
+     AC_MSG_RESULT([using internal libjson-c code])
+ fi
+ 
++fi # json-c.pc
++
+ AC_SUBST(LIBJSONC_SETTING,$LIBJSONC_SETTING)
+ AC_SUBST(JSON_INCLUDE,$JSON_INCLUDE)
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/gdal/0006-Fix-mingw-dllexport.patch

@@ -0,0 +1,13 @@
+diff --git a/gdal/port/cpl_port.h b/gdal/port/cpl_port.h
+index 98805cf..a6a1846 100644
+--- a/gdal/port/cpl_port.h
++++ b/gdal/port/cpl_port.h
+@@ -343,7 +343,7 @@ typedef unsigned int  GUIntptr_t;
+ #endif
+ 
+ #ifndef CPL_DLL
+-#if defined(_MSC_VER) && !defined(CPL_DISABLE_DLL)
++#if defined(WIN32) && !defined(CPL_DISABLE_DLL)
+ #  ifdef GDAL_COMPILATION
+ #    define CPL_DLL __declspec(dllexport)
+ #  else

third-party/DPVO/Pangolin/scripts/vcpkg/ports/gdal/0007-Control-tools.patch

@@ -0,0 +1,83 @@
+diff --git a/gdal/GDALmake.opt.in b/gdal/GDALmake.opt.in
+index e8d2b05..1f19a4b 100644
+--- a/gdal/GDALmake.opt.in
++++ b/gdal/GDALmake.opt.in
+@@ -662,3 +662,6 @@ O_OBJ =	$(foreach file,$(OBJ),../o/$(file))
+ 
+ %-clean:
+ 	$(MAKE) -C $* clean
++
++
++BUILD_TOOLS = @BUILD_TOOLS@
+
+diff --git a/gdal/apps/GNUmakefile b/gdal/apps/GNUmakefile
+index 9624cf7..f91403d 100644
+--- a/gdal/apps/GNUmakefile
++++ b/gdal/apps/GNUmakefile
+@@ -43,6 +43,11 @@ NON_DEFAULT_LIST = 	multireadtest$(EXE) dumpoverviews$(EXE) \
+ 	gdaltorture$(EXE) gdal2ogr$(EXE) test_ogrsf$(EXE) \
+ 	gdalasyncread$(EXE) testreprojmulti$(EXE)
+ 
++ifeq ($(BUILD_TOOLS),no)
++BIN_LIST =
++NON_DEFAULT_LIST =
++endif
++
+ default:	gdal-config-inst gdal-config $(BIN_LIST)
+ 
+ all: default $(NON_DEFAULT_LIST)
+diff --git a/gdal/apps/makefile.vc b/gdal/apps/makefile.vc
+index 6e1fc9b..66f9b29 100644
+--- a/gdal/apps/makefile.vc
++++ b/gdal/apps/makefile.vc
+@@ -20,6 +20,7 @@ GNM_PROGRAMS =	gnmmanage.exe gnmanalyse.exe
+ !ENDIF
+ 
+ 
++!IF "$(BUILD_TOOLS)" == "1"
+ default:	gdal_translate.exe gdalinfo.exe gdaladdo.exe gdalwarp.exe \
+ 		nearblack.exe gdalmanage.exe gdalenhance.exe gdaltransform.exe\
+ 		gdaldem.exe gdallocationinfo.exe gdalsrsinfo.exe gdalmdiminfo.exe \
+@@ -28,6 +29,10 @@ default:	gdal_translate.exe gdalinfo.exe gdaladdo.exe gdalwarp.exe \
+ all:	default multireadtest.exe \
+ 			dumpoverviews.exe gdalwarpsimple.exe gdalflattenmask.exe \
+ 			gdaltorture.exe gdal2ogr.exe test_ogrsf.exe
++!ELSE
++default:
++all:
++!ENDIF
+ OBJ = commonutils.obj gdalinfo_lib.obj gdal_translate_lib.obj gdalwarp_lib.obj ogr2ogr_lib.obj \
+ 	gdaldem_lib.obj nearblack_lib.obj gdal_grid_lib.obj gdal_rasterize_lib.obj gdalbuildvrt_lib.obj \
+ 	gdalmdiminfo_lib.obj gdalmdimtranslate_lib.obj
+@@ -223,5 +228,9 @@ clean:
+ 	-del *.manifest
+ 	-del *.exp
+ 
++!IF "$(BUILD_TOOLS)" == "1"
+ install:	default
+ 	copy *.exe $(BINDIR)
++!ELSE
++install:
++!ENDIF
+
+diff --git a/gdal/configure.ac b/gdal/configure.ac
+index 1098b39..e4d985e 100644
+--- a/gdal/configure.ac
++++ b/gdal/configure.ac
+@@ -6165,6 +6165,16 @@ case "${host_os}" in
+         ;;
+ esac
+ 
++BUILD_TOOLS=yes
++AC_ARG_WITH([tools], AS_HELP_STRING([--with-tools], [Build the tools]),,)
++if test "$with_tools" = "yes"; then
++    AC_MSG_RESULT([enabled])
++else
++    BUILD_TOOLS=no
++    AC_MSG_RESULT([disabled by user])
++fi
++AC_SUBST(BUILD_TOOLS,$BUILD_TOOLS)
++
+ AC_CONFIG_FILES([GDALmake.opt])
+ AC_OUTPUT
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/gdal/0008-Fix-absl-string_view.patch

@@ -0,0 +1,13 @@
+diff --git a/gdal/ogr/ogrsf_frmts/flatgeobuf/flatbuffers/base.h b/gdal/ogr/ogrsf_frmts/flatgeobuf/flatbuffers/base.h
+index 9557380..17edcf8 100644
+--- a/gdal/ogr/ogrsf_frmts/flatgeobuf/flatbuffers/base.h
++++ b/gdal/ogr/ogrsf_frmts/flatgeobuf/flatbuffers/base.h
+@@ -213,7 +213,7 @@ namespace flatbuffers {
+       }
+       #define FLATBUFFERS_HAS_STRING_VIEW 1
+     // Check for absl::string_view
+-    #elif __has_include("absl/strings/string_view.h")
++    #elif __has_include("absl/strings/string_view.h") && 0
+       #include "absl/strings/string_view.h"
+       namespace flatbuffers {
+         typedef absl::string_view string_view;