c1c8cb832a96c61b05dfaf5abe74c8457e824d5c2e077526dac72ffcd745769d

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-cmake0/portfile.cmake

@@ -0,0 +1,26 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+set(PACKAGE_VERSION "0.6.1")
+
+ignition_modular_library(NAME cmake
+                         VERSION ${PACKAGE_VERSION} 
+                         REF "ignition-cmake_${PACKAGE_VERSION}"
+                         SHA512 bd57cd43dd944fef264353b67fbbbab989d4bb638b684f80868a8b61fe0b854e156e00852b967c7caa8598315bea60bd8b27ff000410e93c4f04185a13c90489
+                         # Ensure that gtest is not compiled (backport of https://bitbucket.org/ignitionrobotics/ign-cmake/pull-requests/163)
+                         PATCHES do-not-compile-gtest.patch
+						 # Support for ARM64 (backport of https://bitbucket.org/ignitionrobotics/ign-cmake/pull-requests/168)
+						         support-arm64.patch
+                         # Do not depend on pkg-config installed to find uuid 
+                                 uuid-do-not-require-pkg-config.patch
+                         # Fix FindIgnCURL.cmake (backport of https://bitbucket.org/ignitionrobotics/ign-cmake/pull-requests/175)
+                                 fix-find-ign-curl.patch
+						 )
+
+# Permit empty include folder
+set(VCPKG_POLICY_EMPTY_INCLUDE_FOLDER enabled)
+
+# Remove unneccessary directory, as ignition-cmake is a pure CMake package
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/lib ${CURRENT_PACKAGES_DIR}/debug)
+
+# Install custom usage
+configure_file(${CMAKE_CURRENT_LIST_DIR}/usage ${CURRENT_PACKAGES_DIR}/share/${PORT}/usage @ONLY)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-cmake0/support-arm64.patch

@@ -0,0 +1,17 @@
+diff -r 8a976a308d77 -r 1bea7874cfec cmake/IgnSetCompilerFlags.cmake
+--- a/cmake/IgnSetCompilerFlags.cmake
++++ b/cmake/IgnSetCompilerFlags.cmake
+@@ -279,13 +279,6 @@
+   # Don't pull in the Windows min/max macros
+   add_definitions(-DNOMINMAX)
+ 
+-  if (MSVC AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+-    # Not needed if a proper cmake generator (-G "...Win64") is passed
+-    # to cmake. Enable as a second measure to work around bug
+-    # http://www.cmake.org/Bug/print_bug_page.php?bug_id=11240
+-    set(CMAKE_SHARED_LINKER_FLAGS "/machine:x64")
+-  endif()
+-
+   if(USE_IGN_RECOMMENDED_FLAGS)
+ 
+     # Gy: Prevent errors caused by multiply-defined symbols

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-cmake0/usage

@@ -0,0 +1,3 @@
+The package ignition-cmake0 provides CMake integration:
+
+    find_package(ignition-cmake0 CONFIG REQUIRED)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-cmake0/uuid-do-not-require-pkg-config.patch

@@ -0,0 +1,30 @@
+diff --git a/cmake/FindUUID.cmake b/cmake/FindUUID.cmake
+index bf055d4..15be822 100644
+--- a/cmake/FindUUID.cmake
++++ b/cmake/FindUUID.cmake
+@@ -18,4 +18,25 @@
+ if (UNIX)
+   include(IgnPkgConfig)
+   ign_pkg_check_modules(UUID uuid)
++
++  # If pkg-config is not available in the system,
++  # it is neccessary to manually find uuid
++  if(NOT TARGET UUID::UUID)
++    find_path(UUID_INCLUDE_DIRS NAMES uuid.h PATH_SUFFIXES uuid)
++    mark_as_advanced(UUID_INCLUDE_DIRS)
++
++    find_library(UUID_LIBRARIES NAMES uuid libuuid)
++    mark_as_advanced(UUID_LIBRARIES)
++
++    if(NOT UUID_INCLUDE_DIRS OR NOT UUID_LIBRARIES)
++      set(UUID_FOUND false)
++    else()
++      set(UUID_FOUND true)
++    endif()
++
++    if(UUID_FOUND)
++      include(IgnImportTarget)
++      ign_import_target(UUID)
++    endif()
++  endif()
+ endif()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-cmake0/vcpkg.json

@@ -0,0 +1,10 @@
+{
+  "name": "ignition-cmake0",
+  "version-string": "0.6.2",
+  "port-version": 3,
+  "description": "CMake helper functions for building robotic applications",
+  "homepage": "https://ignitionrobotics.org/libs/cmake",
+  "dependencies": [
+    "ignition-modularscripts"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-cmake2/FindGTS.patch

@@ -0,0 +1,31 @@
+diff --git a/cmake/FindGTS.cmake b/cmake/FindGTS.cmake
+index ad00a9715..a83d8af40 100644
+--- a/cmake/FindGTS.cmake
++++ b/cmake/FindGTS.cmake
+@@ -67,6 +67,26 @@ else()
+   # 2.1 Need glib library
+   find_library(GLIB_LIBRARY glib-2.0)
+   list(APPEND GTS_LIBRARIES "${GLIB_LIBRARY}")
++  find_path(GLIB_INCLUDE_DIRS glib.h
++    HINTS
++      ${CMAKE_FIND_ROOT_PATH}
++    PATH
++      ${CMAKE_FIND_ROOT_PATH}
++    PATH_SUFFIXES 
++      include
++      include/glib-2.0
++    DOC "glib header include dir"
++  )
++  find_path(GLIB_CONFIG_INCLUDE_DIRS glibconfig.h
++    HINTS
++      ${CMAKE_FIND_ROOT_PATH}
++    PATHS
++      ${CMAKE_FIND_ROOT_PATH}
++    PATH_SUFFIXES
++      lib/glib-2.0/include
++    doc "glib header include dir"
++  )
++  list(APPEND GTS_INCLUDE_DIRS ${GLIB_INCLUDE_DIRS} ${GLIB_CONFIG_INCLUDE_DIRS})
+ 
+   if (GTS_FOUND)
+     # We need to manually specify the pkgconfig entry (and type of entry),

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-cmake2/portfile.cmake

@@ -0,0 +1,11 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+set(PACKAGE_VERSION "2.5.0")
+
+ignition_modular_library(NAME cmake
+                         VERSION ${PACKAGE_VERSION}
+                         SHA512 dc546e5e4deabba12faec5fb0162309dfce9b429a6bbd6637c058acdda3eb4fa1e44e9b71f55603d0cff77550117dafc3fc8475621ede65fa8aa915254beb463
+                         PATCHES FindGTS.patch)
+
+# Install custom usage
+configure_file(${CMAKE_CURRENT_LIST_DIR}/usage ${CURRENT_PACKAGES_DIR}/share/${PORT}/usage @ONLY)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-cmake2/usage

@@ -0,0 +1,3 @@
+The package ignition-cmake2 provides CMake integration:
+
+    find_package(ignition-cmake2 CONFIG REQUIRED)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-cmake2/vcpkg.json

@@ -0,0 +1,10 @@
+{
+  "name": "ignition-cmake2",
+  "version": "2.5.0",
+  "port-version": 1,
+  "description": "CMake helper functions for building robotic applications",
+  "homepage": "https://ignitionrobotics.org/libs/cmake",
+  "dependencies": [
+    "ignition-modularscripts"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-common1/portfile.cmake

@@ -0,0 +1,6 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+ignition_modular_library(NAME common
+                         VERSION "1.1.1"
+                         REF ignition-common_1.1.1
+                         SHA512 e96e82dc401281cd31843f4b0ae2c1d23589170869621ea62eb6d6b31b11bd622c14da7046b1993c8fc67a1d39bae9a96b9f8efc8923e305823f963d864975f7)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-common1/vcpkg.json

@@ -0,0 +1,30 @@
+{
+  "name": "ignition-common1",
+  "version-string": "1.1.1",
+  "port-version": 2,
+  "description": "Common libraries for robotics applications",
+  "dependencies": [
+    {
+      "name": "dlfcn-win32",
+      "platform": "windows | uwp"
+    },
+    {
+      "name": "ffmpeg",
+      "platform": "!windows & !uwp"
+    },
+    {
+      "name": "freeimage",
+      "platform": "!windows & !uwp"
+    },
+    {
+      "name": "gts",
+      "platform": "!windows & !uwp"
+    },
+    "ignition-cmake0",
+    "ignition-math4",
+    {
+      "name": "tinyxml2",
+      "platform": "!windows & !uwp"
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-common3/portfile.cmake

@@ -0,0 +1,12 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+ignition_modular_library(NAME common
+                         VERSION "3.9.0"
+                         SHA512 8d052850cbb125e334494c9ad9b234c371fe310327dba997515651f29479d747dffa55b0aa822f2a78e6317a4df2d41389c7a07165cdc08894fdfb116e4d9756)
+
+# Remove non-relocatable helper scripts (see https://github.com/ignitionrobotics/ign-common/issues/82)
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin/ign_remotery_vis" "${CURRENT_PACKAGES_DIR}/debug/bin/ign_remotery_vis")
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+   file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+endif()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-common3/vcpkg.json

@@ -0,0 +1,24 @@
+{
+  "name": "ignition-common3",
+  "version-string": "3.9.0",
+  "port-version": 2,
+  "description": "Common libraries for robotics applications",
+  "homepage": "https://ignitionrobotics.org/libs/common",
+  "dependencies": [
+    {
+      "name": "dlfcn-win32",
+      "platform": "windows | uwp"
+    },
+    "ffmpeg",
+    "freeimage",
+    "gts",
+    "ignition-cmake2",
+    "ignition-math6",
+    "ignition-modularscripts",
+    {
+      "name": "libuuid",
+      "platform": "!windows & !uwp & !osx"
+    },
+    "tinyxml2"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-fuel-tools1/link-correct-yaml-target.patch

@@ -0,0 +1,24 @@
+diff -r 29939b8a25be -r 8a0a85e63950 CMakeLists.txt
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -9,7 +9,7 @@
+ # Find ignition-cmake
+ #============================================================================
+ # If you get an error at this line, you need to install ignition-cmake
+-find_package(ignition-cmake0 REQUIRED)
++find_package(ignition-cmake0 0.4.1 REQUIRED)
+ 
+ #============================================================================
+ # Configure the project
+diff -r 29939b8a25be -r 8a0a85e63950 src/CMakeLists.txt
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -52,7 +52,7 @@
+     curl::curl
+     ignition-common${IGN_COMMON_MAJOR_VER}::ignition-common${IGN_COMMON_MAJOR_VER}
+     ${JSONCPP_TARGET}
+-    YAML::YAML
++    ${YAML_TARGET}
+     ZIP::ZIP
+ )
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-fuel-tools1/portfile.cmake

@@ -0,0 +1,11 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+ignition_modular_library(NAME fuel-tools
+                         VERSION "1.2.0"
+                         CMAKE_PACKAGE_NAME ignition-fuel_tools1
+                         SHA512 a656fed74fb2138b3bcf7d35b25ad06da95cfb9a3ad7ded2c9c54db385f55ea310fd1a72dcf6400b0a6199e376c1ba2d11ee2a08c66e3c2cc8b2ee1b25406986
+                         # Ensure yaml is correctly linked (backport of https://bitbucket.org/ignitionrobotics/ign-fuel-tools/pull-requests/103/use-yaml_target-instead-of-yaml-yaml/diff)
+                         PATCHES link-correct-yaml-target.patch
+                         # This can  be removed when the pc file of curl is fixed
+                         DISABLE_PKGCONFIG_INSTALL
+                         )

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-fuel-tools1/vcpkg.json

@@ -0,0 +1,14 @@
+{
+  "name": "ignition-fuel-tools1",
+  "version-string": "1.2.0",
+  "port-version": 3,
+  "description": "Tools for using fuel API to download robot models",
+  "dependencies": [
+    "curl",
+    "ignition-cmake0",
+    "ignition-common1",
+    "jsoncpp",
+    "libyaml",
+    "libzip"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-fuel-tools4/portfile.cmake

@@ -0,0 +1,7 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+ignition_modular_library(NAME fuel-tools
+                         VERSION "4.3.0"
+                         CMAKE_PACKAGE_NAME ignition-fuel_tools4
+                         SHA512 451d7bcd195a8ce41c3a7d64ad936c8c0812cbc7af03dbe75cbdc359599bf1f828595833c1758d4de8e37c37730bb852de95b2256ff9134af4ab197df2b66a8b
+                         )

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-fuel-tools4/vcpkg.json

@@ -0,0 +1,18 @@
+{
+  "name": "ignition-fuel-tools4",
+  "version-string": "4.3.0",
+  "port-version": 1,
+  "description": "Tools for using fuel API to download robot models",
+  "homepage": "https://ignitionrobotics.org/libs/fuel_tools",
+  "dependencies": [
+    "curl",
+    "ignition-cmake2",
+    "ignition-common3",
+    "ignition-modularscripts",
+    "ignition-msgs5",
+    "jsoncpp",
+    "libyaml",
+    "libzip",
+    "tinyxml2"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-math4/portfile.cmake

@@ -0,0 +1,5 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+ignition_modular_library(NAME math
+                         VERSION "4.0.0"
+                         SHA512 5996af60666a1166fc19b2db9715f7214341becb8eb6071c09315e1f71e759c6de4da99b44312829fc7b2bdef7e0f3671e4d2a92e0d2dd5d5fd782a6c46b012a)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-math4/vcpkg.json

@@ -0,0 +1,10 @@
+{
+  "name": "ignition-math4",
+  "version-string": "4.0.0",
+  "port-version": 2,
+  "description": "Math API for robotic applications",
+  "homepage": "https://ignitionrobotics.org/libs/math",
+  "dependencies": [
+    "ignition-cmake0"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-math6/fix-isspace.patch

@@ -0,0 +1,12 @@
+diff --git a/include/ignition/math/Color.hh b/include/ignition/math/Color.hh
+index faf7a08..16758c5 100644
+--- a/include/ignition/math/Color.hh
++++ b/include/ignition/math/Color.hh
+@@ -18,6 +18,7 @@
+ #define IGNITION_MATH_COLOR_HH_
+ 
+ #include <iostream>
++#include <cctype>
+ 
+ #include <ignition/math/Helpers.hh>
+ #include <ignition/math/Vector3.hh>

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-math6/portfile.cmake

@@ -0,0 +1,6 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+ignition_modular_library(NAME math
+                         VERSION "6.6.0"
+                         SHA512 1b5f59b45256daa81cbfb7da4727200d0d6cb4a75fbc3b83b512c18ec6307b5bd78b8ee7a84f0f8a8c334717a1480766f62658bd213e9021c09c0ed22caa921d
+                         PATCHES fix-isspace.patch)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-math6/vcpkg.json

@@ -0,0 +1,12 @@
+{
+  "name": "ignition-math6",
+  "version-string": "6.6.0",
+  "port-version": 2,
+  "description": "Math API for robotic applications",
+  "homepage": "https://ignitionrobotics.org/libs/math",
+  "dependencies": [
+    "eigen3",
+    "ignition-cmake2",
+    "ignition-modularscripts"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-modularscripts/ignition_modular_library.cmake

@@ -0,0 +1,148 @@
+
+function(ignition_modular_build_library NAME MAJOR_VERSION SOURCE_PATH CMAKE_PACKAGE_NAME DEFAULT_CMAKE_PACKAGE_NAME IML_DISABLE_PKGCONFIG_INSTALL)
+    vcpkg_configure_cmake(
+        SOURCE_PATH ${SOURCE_PATH}
+        PREFER_NINJA
+        DISABLE_PARALLEL_CONFIGURE
+        OPTIONS -DBUILD_TESTING=OFF
+    )
+
+    vcpkg_install_cmake(ADD_BIN_TO_PATH)
+
+    # If necessary, move the CMake config files
+    if(EXISTS "${CURRENT_PACKAGES_DIR}/lib/cmake")
+        # Some ignition libraries install library subcomponents, that are effectively additional cmake packages
+        # with name ${CMAKE_PACKAGE_NAME}-${COMPONENT_NAME}, so it is needed to call vcpkg_fixup_cmake_targets for them as well
+        file(GLOB COMPONENTS_CMAKE_PACKAGE_NAMES
+             LIST_DIRECTORIES TRUE
+             RELATIVE "${CURRENT_PACKAGES_DIR}/lib/cmake/"
+             "${CURRENT_PACKAGES_DIR}/lib/cmake/*")
+
+        foreach(COMPONENT_CMAKE_PACKAGE_NAME IN LISTS COMPONENTS_CMAKE_PACKAGE_NAMES)
+            vcpkg_fixup_cmake_targets(CONFIG_PATH "lib/cmake/${COMPONENT_CMAKE_PACKAGE_NAME}"
+                                      TARGET_PATH "share/${COMPONENT_CMAKE_PACKAGE_NAME}"
+                                      DO_NOT_DELETE_PARENT_CONFIG_PATH)
+        endforeach()
+
+        file(GLOB_RECURSE CMAKE_RELEASE_FILES
+                          "${CURRENT_PACKAGES_DIR}/lib/cmake/${CMAKE_PACKAGE_NAME}/*")
+
+        file(COPY ${CMAKE_RELEASE_FILES} DESTINATION
+                  "${CURRENT_PACKAGES_DIR}/share/${CMAKE_PACKAGE_NAME}/")
+    endif()
+
+    # Remove unused files files
+    file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/lib/cmake
+                        ${CURRENT_PACKAGES_DIR}/debug/include
+                        ${CURRENT_PACKAGES_DIR}/debug/lib/cmake
+                        ${CURRENT_PACKAGES_DIR}/debug/share)
+
+    # Make pkg-config files relocatable
+    if(NOT IML_DISABLE_PKGCONFIG_INSTALL)
+        if(VCPKG_TARGET_IS_LINUX)
+            set(SYSTEM_LIBRARIES SYSTEM_LIBRARIES pthread)
+        endif()
+        vcpkg_fixup_pkgconfig(${SYSTEM_LIBRARIES})
+    else()
+        file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/lib/pkgconfig
+                            ${CURRENT_PACKAGES_DIR}/debug/lib/pkgconfig)
+    endif()
+
+    # Find the relevant license file and install it
+    if(EXISTS "${SOURCE_PATH}/LICENSE")
+        set(LICENSE_PATH "${SOURCE_PATH}/LICENSE")
+    elseif(EXISTS "${SOURCE_PATH}/README.md")
+        set(LICENSE_PATH "${SOURCE_PATH}/README.md")
+    endif()
+    file(INSTALL ${LICENSE_PATH} DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+endfunction()
+
+## # ignition_modular_library
+##
+## Download and build a library from the Ignition Robotics project ( https://ignitionrobotics.org/ ).
+##
+## ## Usage:
+## ```cmake
+## ignition_modular_library(NAME <name>
+##                          VERSION <version>
+##                          SHA512 <sha512>
+##                          [REF <ref>]
+##                          [HEAD_REF <head_ref>]
+##                          [PATCHES <patches>]
+##                          [CMAKE_PACKAGE_NAME <cmake_package_name>]
+##                          [DISABLE_PKGCONFIG_INSTALL])
+## ```
+##
+## ## Parameters:
+## ### NAME
+## The name of the specific ignition library, i.e. `cmake` for `ignition-cmake0`, `math` for `ignition-math4`.
+##
+## ### VERSION
+## The complete version number.
+##
+## ### SHA512
+## The SHA512 hash that should match the downloaded  archive. This is forwarded to the `vcpkg_from_github` command.
+##
+## ### REF
+## Reference to the tag of the desired release. This is forwarded to the `vcpkg_from_github` command.
+## If not specified, defaults to `ignition-${NAME}${MAJOR_VERSION}_${VERSION}`.
+##
+## ### HEAD_REF
+## Reference (tag) to the desired release. This is forwarded to the `vcpkg_from_github` command.
+## If not specified, defaults to `ign-${NAME}${MAJOR_VERSION}`.
+##
+## ### PATCHES
+## A list of patches to be applied to the extracted sources.
+## This is forwarded to the `vcpkg_from_github` command.
+##
+## ### CMAKE_PACKAGE_NAME
+## The name of the CMake package for the port.
+## If not specified, defaults to `ignition-${NAME}${MAJOR_VERSION}`.
+##
+## ### DISABLE_PKGCONFIG_INSTALL
+## If present, disable installation of .pc pkg-config configuration files.
+##
+##
+## ## Examples:
+##
+## * [ignition-cmake0](https://github.com/Microsoft/vcpkg/blob/master/ports/ignition-cmake0/portfile.cmake)
+## * [ignition-math4](https://github.com/Microsoft/vcpkg/blob/master/ports/ignition-math4/portfile.cmake)
+## * [ignition-fuel-tools1](https://github.com/Microsoft/vcpkg/blob/master/ports/ignition-fuel-tools1/portfile.cmake)
+function(ignition_modular_library)
+    set(options DISABLE_PKGCONFIG_INSTALL)
+    set(oneValueArgs NAME VERSION SHA512 REF HEAD_REF CMAKE_PACKAGE_NAME)
+	set(multiValueArgs PATCHES)
+    cmake_parse_arguments(IML "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    string(REPLACE "." ";" IML_VERSION_LIST ${IML_VERSION})
+    list(GET IML_VERSION_LIST 0 IML_MAJOR_VERSION)
+
+    # If the REF option is omitted, use the canonical one
+    if(NOT DEFINED IML_REF)
+        set(IML_REF "ignition-${IML_NAME}${IML_MAJOR_VERSION}_${IML_VERSION}")
+    endif()
+
+    # If the HEAD_REF option is omitted, use the canonical one
+    if(NOT DEFINED IML_HEAD_REF)
+        set(IML_HEAD_REF "ign-${IML_NAME}${IML_MAJOR_VERSION}")
+    endif()
+
+    # If the CMAKE_PACKAGE_NAME option is omitted, use the canonical one
+    set(DEFAULT_CMAKE_PACKAGE_NAME "ignition-${IML_NAME}${IML_MAJOR_VERSION}")
+    if(NOT DEFINED IML_CMAKE_PACKAGE_NAME)
+        set(IML_CMAKE_PACKAGE_NAME ${DEFAULT_CMAKE_PACKAGE_NAME})
+    endif()
+
+    # Download library from github, to support also the --head option
+    vcpkg_from_github(
+        OUT_SOURCE_PATH SOURCE_PATH
+        REPO ignitionrobotics/ign-${IML_NAME}
+        REF ${IML_REF}
+        SHA512 ${IML_SHA512}
+        HEAD_REF ${IML_HEAD_REF}
+        PATCHES ${IML_PATCHES}
+    )
+
+    # Build library
+    ignition_modular_build_library(${IML_NAME} ${IML_MAJOR_VERSION} ${SOURCE_PATH} ${IML_CMAKE_PACKAGE_NAME} ${DEFAULT_CMAKE_PACKAGE_NAME} ${IML_DISABLE_PKGCONFIG_INSTALL})
+endfunction()

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

@@ -0,0 +1,8 @@
+file(COPY
+    ${CMAKE_CURRENT_LIST_DIR}/ignition_modular_library.cmake
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/share/ignitionmodularscripts
+)
+file(WRITE ${CURRENT_PACKAGES_DIR}/share/ignitionmodularscripts/copyright "")
+
+set(VCPKG_POLICY_EMPTY_PACKAGE enabled)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-modularscripts/vcpkg.json

@@ -0,0 +1,6 @@
+{
+  "name": "ignition-modularscripts",
+  "version-string": "2020-11-23",
+  "port-version": 1,
+  "description": "Vcpkg helpers to package ignition libraries"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-msgs1/fix-protobuf-static-link-order.patch

@@ -0,0 +1,14 @@
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -2,8 +2,8 @@
+ # Build a custom protoc plugin
+ ign_add_executable(ign_msgs_gen Generator.cc generator_main.cc)
+ target_link_libraries(ign_msgs_gen
+-  protobuf::libprotobuf 
+-  protobuf::libprotoc)
++  protobuf::libprotoc
++  protobuf::libprotobuf)
+ target_include_directories(ign_msgs_gen PRIVATE ${PROTOBUF_INCLUDE_DIR})
+ target_compile_features(ign_msgs_gen PRIVATE ${IGN_CXX_11_FEATURES})
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-msgs1/portfile.cmake

@@ -0,0 +1,23 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+# Explicitly disable cross-compilation until the upstream discussion
+# https://bitbucket.org/ignitionrobotics/ign-msgs/issues/34/add-support-for-cross-compilation is solved
+if(CMAKE_HOST_WIN32 AND NOT VCPKG_TARGET_ARCHITECTURE MATCHES "x64" AND NOT VCPKG_TARGET_ARCHITECTURE MATCHES "x86")
+    set(ignition_msgs_CROSSCOMPILING ON)
+elseif(CMAKE_HOST_WIN32 AND VCPKG_CMAKE_SYSTEM_NAME)
+    set(ignition_msgs_CROSSCOMPILING ON)
+else()
+    set(ignition_msgs_CROSSCOMPILING OFF)
+endif()
+
+if(ignition_msgs_CROSSCOMPILING)
+    message(FATAL_ERROR "This port does not currently support triplets that require cross-compilation.")
+endif()
+
+ignition_modular_library(NAME msgs
+                         VERSION "1.0.0"
+                         # See https://bitbucket.org/ignitionrobotics/ign-msgs/issues/33/the-ignition-msgs1_100-tag-does-not-match
+                         REF ignition-msgs_1.0.0
+                         SHA512 3a270f0ac988b947091d4626be48fe8cfed5ddfde5a37b9d0f08fddcbf278099ab231fca11e2dd2296ca54e0350ea14e3f685dc238f0827f18f10ab7b75039de
+                         # Fix linking order of protobuf libraries (backport of https://bitbucket.org/ignitionrobotics/ign-msgs/pull-requests/151)
+                         PATCHES fix-protobuf-static-link-order.patch)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-msgs1/vcpkg.json

@@ -0,0 +1,11 @@
+{
+  "name": "ignition-msgs1",
+  "version-string": "1.0.0",
+  "port-version": 4,
+  "description": "Middleware protobuf messages for robotics",
+  "dependencies": [
+    "ignition-cmake0",
+    "ignition-math4",
+    "protobuf"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-msgs5/01-protobuf.patch

@@ -0,0 +1,13 @@
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index f68bf3d..d4d1372 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -135,6 +135,8 @@ if(MSVC)
+   # warning is not important since those members do not need to be interfaced
+   # with.
+   set_source_files_properties(${gen_sources} COMPILE_FLAGS "/wd4251 /wd4146")
++  # Fix for protobuf 3.12 - allow big object files
++  add_definitions(/bigobj)
+ endif()
+ 
+ set_source_files_properties(${gen_headers} ${gen_sources} ${gen_ruby_scripts}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-msgs5/portfile.cmake

@@ -0,0 +1,10 @@
+# Cross-compilation is disabled until the upstream discussion
+# https://github.com/ignitionrobotics/ign-msgs/issues/34 is solved
+
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+ignition_modular_library(NAME msgs
+                         VERSION "5.3.0"
+                         SHA512 55c167d00b60ae6da0144a9495e9ac8aed61fcbdc61e057e75d31261e335c573543d60e28a7dc195a7c9849c5c6eb0e088d4f4e79fd927e83470a3f1fabef60e
+                         PATCHES
+                         "01-protobuf.patch")

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-msgs5/vcpkg.json

@@ -0,0 +1,14 @@
+{
+  "name": "ignition-msgs5",
+  "version": "5.3.0",
+  "port-version": 4,
+  "description": "Middleware protobuf messages for robotics",
+  "supports": "!(arm | uwp)",
+  "dependencies": [
+    "ignition-cmake2",
+    "ignition-math6",
+    "ignition-modularscripts",
+    "protobuf",
+    "tinyxml2"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-msgs6/portfile.cmake

@@ -0,0 +1,8 @@
+# Cross-compilation is explicitly disabled until the upstream discussion
+# https://github.com/ignitionrobotics/ign-msgs/issues/34 is solved
+
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+ignition_modular_library(NAME msgs
+                         VERSION "6.0.0"
+                         SHA512 d1d6f6602ae33ec95b36c5df7815b06970f349492ef0309d8aacbaf2dca0c3e7314bbd64890a2554485fbd52f148a90b7bf54dceb0b3a1dd40eeb1f5bdb9613c)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-msgs6/vcpkg.json

@@ -0,0 +1,14 @@
+{
+  "name": "ignition-msgs6",
+  "version": "6.0.0",
+  "port-version": 3,
+  "description": "Middleware protobuf messages for robotics",
+  "supports": "!(arm | uwp)",
+  "dependencies": [
+    "ignition-cmake2",
+    "ignition-math6",
+    "ignition-modularscripts",
+    "protobuf",
+    "tinyxml2"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-plugin1/portfile.cmake

@@ -0,0 +1,7 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+set(PACKAGE_VERSION "1.1.0")
+ignition_modular_library(NAME plugin
+                         VERSION ${PACKAGE_VERSION}
+                         REF "ignition-plugin_${PACKAGE_VERSION}"
+                         SHA512 0657c5816e67d02329a79364050b8a56957180e5b7481b01696c7369b063cbfedfc93793a8ad92d87d242d24e476283dc7847bd810a3de98d3ec5ae7d640568c)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-plugin1/vcpkg.json

@@ -0,0 +1,15 @@
+{
+  "name": "ignition-plugin1",
+  "version-string": "1.1.0",
+  "port-version": 1,
+  "description": "Library for registering plugin libraries and dynamically loading them at runtime",
+  "homepage": "https://ignitionrobotics.org/libs/plugin",
+  "dependencies": [
+    {
+      "name": "dlfcn-win32",
+      "platform": "windows | uwp"
+    },
+    "ignition-cmake2",
+    "ignition-modularscripts"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-transport4/portfile.cmake

@@ -0,0 +1,10 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+ignition_modular_library(NAME transport
+                         VERSION "4.0.0"
+                         SHA512 d4125044c21fdd6754f3b8b06f372df3f858080d5d33e97ed7a8ef8f6fb9857d562082aad41c89ea9146a33b1c3814305d33c5c8f8bcde66a16477b4a01655b4
+                         # This can  be removed when the pc file of libuuid on Windows is fixed
+                         DISABLE_PKGCONFIG_INSTALL
+                         PATCHES
+                            uuid-osx.patch
+                         )

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-transport4/uuid-osx.patch

@@ -0,0 +1,26 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 5453cd0..10c2ad4 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -58,6 +58,8 @@ ign_find_package(CPPZMQ REQUIRED PRIVATE
+ # Find uuid
+ if (MSVC)
+   message (STATUS "UUID: Using Windows RPC UuidCreate function\n")
++elseif (APPLE)
++  message (STATUS "Use system uuid header")
+ else()
+   ign_find_package(UUID REQUIRED)
+ endif()
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 6683e64..33669ab 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -18,7 +18,7 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
+ )
+ 
+ # Windows system library provides UUID
+-if (NOT MSVC)
++if (NOT MSVC AND NOT APPLE)
+   target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
+     PUBLIC
+       UUID::UUID

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-transport4/vcpkg.json

@@ -0,0 +1,18 @@
+{
+  "name": "ignition-transport4",
+  "version": "4.0.0",
+  "port-version": 5,
+  "description": "Transport middleware for robotics",
+  "dependencies": [
+    "cppzmq",
+    "ignition-cmake0",
+    "ignition-modularscripts",
+    "ignition-msgs1",
+    {
+      "name": "libuuid",
+      "platform": "!windows & !uwp & !osx"
+    },
+    "protobuf",
+    "zeromq"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-transport8/portfile.cmake

@@ -0,0 +1,7 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+ignition_modular_library(NAME transport
+                         VERSION "8.1.0"
+                         SHA512 eb64f18721190fcb79a5b45746fd44fa24274c6fe6c5021dd9306c15a327873377d07d4aa770633982038b84da650d3d0c8a56169222c0c88fa1318314fc4529
+                         # This can be removed when the pc file of sqlite3 is available ( https://github.com/microsoft/vcpkg/issues/14327 )
+                         DISABLE_PKGCONFIG_INSTALL)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-transport8/vcpkg.json

@@ -0,0 +1,18 @@
+{
+  "name": "ignition-transport8",
+  "version-string": "8.1.0",
+  "port-version": 2,
+  "description": "Transport middleware for robotics",
+  "dependencies": [
+    "cppzmq",
+    "ignition-cmake2",
+    "ignition-msgs5",
+    {
+      "name": "libuuid",
+      "platform": "!windows & !uwp & !osx"
+    },
+    "protobuf",
+    "sqlite3",
+    "zeromq"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-transport9/portfile.cmake

@@ -0,0 +1,10 @@
+include(${CURRENT_INSTALLED_DIR}/share/ignitionmodularscripts/ignition_modular_library.cmake)
+
+ignition_modular_library(NAME transport
+                         VERSION "9.0.0"
+                         SHA512 c3edb7a8a063b4aa5826838ae08c8ec2b3d14563492022df632a719409c95272f4f6a43d91f0c317e44b85921b5aedc1685670b81a7baa949f01af3b3534d76e
+                         # This can be removed when the pc file of sqlite3 is available ( https://github.com/microsoft/vcpkg/issues/14327 )
+                         DISABLE_PKGCONFIG_INSTALL
+                         PATCHES
+                            uuid-osx.patch
+                         )

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-transport9/uuid-osx.patch

@@ -0,0 +1,26 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 084b6da..6fd212d 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -70,6 +70,8 @@ ign_find_package(CPPZMQ REQUIRED PRIVATE
+ # Find uuid
+ if (MSVC)
+   message (STATUS "UUID: Using Windows RPC UuidCreate function\n")
++elseif (APPLE)
++  message (STATUS "Use system uuid header")
+ else()
+   ign_find_package(UUID REQUIRED)
+ endif()
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 9777240..9e860a9 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -31,7 +31,7 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
+ )
+ 
+ # Windows system library provides UUID
+-if (NOT MSVC)
++if (NOT MSVC AND NOT APPLE)
+   target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
+     PUBLIC
+       UUID::UUID

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ignition-transport9/vcpkg.json

@@ -0,0 +1,18 @@
+{
+  "name": "ignition-transport9",
+  "version": "9.0.0",
+  "port-version": 3,
+  "description": "Transport middleware for robotics",
+  "dependencies": [
+    "cppzmq",
+    "ignition-cmake2",
+    "ignition-msgs6",
+    {
+      "name": "libuuid",
+      "platform": "!windows & !uwp & !osx"
+    },
+    "protobuf",
+    "sqlite3",
+    "zeromq"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/igraph/arith_osx.h

@@ -0,0 +1,12 @@
+/* Suitable for macOS on x86_64 and arm64 */
+/* Not suitable for 32-bit macOS */
+
+#define IEEE_8087
+#define Arith_Kind_ASL 1
+#define Long int
+#define Intcast (int)(long)
+#define Double_Align
+#define X64_bit_pointers
+#define NANCHECK
+#define QNaN0 0x0
+#define QNaN1 0x7ff80000

third-party/DPVO/Pangolin/scripts/vcpkg/ports/igraph/arith_win32.h

@@ -0,0 +1,8 @@
+/* Windows 32-bit */
+
+#define IEEE_8087
+#define Arith_Kind_ASL 1
+#define Double_Align
+#define NANCHECK
+#define QNaN0 0x0
+#define QNaN1 0x7ff80000

third-party/DPVO/Pangolin/scripts/vcpkg/ports/igraph/arith_win64.h

@@ -0,0 +1,9 @@
+/* Windows 64-bit */
+
+#define IEEE_8087
+#define Arith_Kind_ASL 1
+#define Double_Align
+#define X64_bit_pointers
+#define NANCHECK
+#define QNaN0 0x0
+#define QNaN1 0x7ff80000

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

@@ -0,0 +1,66 @@
+
+# We use the release tarball from GitHub instead of the sources in the repo because:
+#  - igraph will not compile from the git sources unless there is an actual git repository to back it. This is because it detects the version from git tags. The release tarball has the version hard-coded.
+#  - The release tarball contains pre-generated parser sources, which eliminates the dependency on bison/flex.
+
+vcpkg_download_distfile(ARCHIVE
+    URLS "https://github.com/igraph/igraph/releases/download/0.9.8/igraph-0.9.8.tar.gz"
+    FILENAME "igraph-0.9.8.tar.gz"
+    SHA512 4f0af3e2b4e2ed782064afc8a7aa0f104c683c35de3f71240d41a1b5097dd41101a483d4e5f9ce4dca1a5ca0bb616e1c125d58ccf50066b1405e8188fe4d796f
+)
+
+vcpkg_extract_source_archive_ex(
+    OUT_SOURCE_PATH SOURCE_PATH
+    ARCHIVE ${ARCHIVE}
+)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+    graphml   IGRAPH_GRAPHML_SUPPORT
+    openmp    IGRAPH_OPENMP_SUPPORT
+)
+
+# Allow cross-compilation. See https://igraph.org/c/html/latest/igraph-Installation.html#igraph-Installation-cross-compiling
+set(ARITH_H "")
+if (VCPKG_TARGET_IS_OSX)
+    set(ARITH_H ${CURRENT_PORT_DIR}/arith_osx.h)
+elseif (VCPKG_TARGET_IS_WINDOWS OR VCPKG_TARGET_IS_UWP)
+    if (VCPKG_TARGET_ARCHITECTURE STREQUAL "x86" OR VCPKG_TARGET_ARCHITECTURE STREQUAL "arm")
+        set(ARITH_H ${CURRENT_PORT_DIR}/arith_win32.h)
+    elseif (VCPKG_TARGET_ARCHITECTURE STREQUAL "x64" OR VCPKG_TARGET_ARCHITECTURE STREQUAL "arm64")
+        set(ARITH_H ${CURRENT_PORT_DIR}/arith_win64.h)
+    endif()
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DIGRAPH_ENABLE_LTO=AUTO
+        # ARPACK not yet available in vcpkg.
+        -DIGRAPH_USE_INTERNAL_ARPACK=ON
+        # OpenBLAS provides BLAS/LAPACK but some tests fail with OpenBLAS on Windows.
+        # See https://github.com/igraph/igraph/issues/1491
+        -DIGRAPH_USE_INTERNAL_BLAS=ON
+        -DIGRAPH_USE_INTERNAL_LAPACK=ON
+        -DIGRAPH_USE_INTERNAL_CXSPARSE=OFF
+        # GLPK is not yet available in vcpkg.
+        -DIGRAPH_USE_INTERNAL_GLPK=ON
+        # Currently, external GMP provides no performance or functionality benefits.
+        -DIGRAPH_USE_INTERNAL_GMP=ON
+        # PLFIT is not yet available in vcpkg.
+        -DIGRAPH_USE_INTERNAL_PLFIT=ON
+        -DF2C_EXTERNAL_ARITH_HEADER=${ARITH_H}
+        ${FEATURE_OPTIONS}
+)
+
+vcpkg_cmake_install()
+
+vcpkg_copy_pdbs()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/igraph)
+
+file(INSTALL "${SOURCE_PATH}/COPYING" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
+
+vcpkg_fixup_pkgconfig()

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

@@ -0,0 +1,32 @@
+{
+  "name": "igraph",
+  "version": "0.9.8",
+  "description": "igraph is a C library for network analysis and graph theory, with an emphasis on efficiency portability and ease of use.",
+  "homepage": "https://igraph.org/",
+  "license": "GPL-2.0-or-later",
+  "dependencies": [
+    "suitesparse",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "default-features": [
+    "graphml"
+  ],
+  "features": {
+    "graphml": {
+      "description": "Support for reading GraphML files",
+      "dependencies": [
+        "libxml2"
+      ]
+    },
+    "openmp": {
+      "description": "Use OpenMP parallelization in some functions"
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/iir1/portfile.cmake

@@ -0,0 +1,21 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO berndporr/iir1
+    REF 1.9.0
+    SHA512 9dced1610fbbfd7194874e984f969880dc76df3562df575c07d022b9ac96c67334b542acea395531423dfb5b8d692b14abdaff0235f048ab6ca7221bfc57fdba
+    HEAD_REF master
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+)
+
+vcpkg_cmake_install()
+
+vcpkg_cmake_config_fixup(PACKAGE_NAME iir CONFIG_PATH lib/cmake/iir)
+
+vcpkg_copy_pdbs()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+file(INSTALL "${SOURCE_PATH}/COPYING" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)