e08f8b4123f453b57bb0e8a7e29a86973f5a30a916e1528336bdff48b3b87dc7

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

@@ -0,0 +1,13 @@
+{
+  "name": "openmama",
+  "version-semver": "6.3.1",
+  "port-version": 1,
+  "description": "OpenMAMA is a high performance vendor neutral lightweight wrapper that provides a common API interface to different middleware and messaging solutions across a variety of platforms and languages",
+  "homepage": "https://github.com/finos/OpenMAMA",
+  "supports": "windows & (x64 | x86)",
+  "dependencies": [
+    "apr",
+    "libevent",
+    "qpid-proton"
+  ]
+}

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

@@ -0,0 +1,63 @@
+set(VERSION 8.1)
+
+# Note: upstream GitLab instance at https://graphics.rwth-aachen.de:9000 often goes down
+vcpkg_download_distfile(ARCHIVE
+    URLS "https://www.openmesh.org/media/Releases/${VERSION}/OpenMesh-${VERSION}.tar.gz"
+    FILENAME "OpenMesh-${VERSION}.tar.gz"
+    SHA512 c146e6b21d709a31772621a6a913def93a51460c4abb950c2eb64eea4528c7efd4c86166ba56ae0bc8090cc5878dd9328b570e094e61c1b64d6d298de05aca61
+)
+
+vcpkg_extract_source_archive_ex(
+    OUT_SOURCE_PATH SOURCE_PATH
+    ARCHIVE "${ARCHIVE}"
+    REF "${VERSION}"
+)
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "dynamic")
+  set(OPENMESH_BUILD_SHARED ON)
+else()
+  set(OPENMESH_BUILD_SHARED OFF)
+endif()
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS
+        -DBUILD_APPS=OFF
+        -DOPENMESH_BUILD_SHARED=${OPENMESH_BUILD_SHARED}
+        # [TODO]: add apps as feature, requires qt5 and freeglut
+)
+
+vcpkg_install_cmake()
+vcpkg_copy_pdbs()
+vcpkg_fixup_cmake_targets(CONFIG_PATH share/OpenMesh/cmake TARGET_PATH share/OpenMesh/cmake)
+
+if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+  file(RENAME "${CURRENT_PACKAGES_DIR}/debug/libdata/pkgconfig" "${CURRENT_PACKAGES_DIR}/debug/lib/pkgconfig")
+endif()
+if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+  file(RENAME "${CURRENT_PACKAGES_DIR}/libdata/pkgconfig" "${CURRENT_PACKAGES_DIR}/lib/pkgconfig")
+endif()
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/libdata" "${CURRENT_PACKAGES_DIR}/libdata")
+vcpkg_fixup_pkgconfig()
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/include/OpenMesh/Tools/VDPM/xpm)
+# Only move dynamic libraries to bin on Windows
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "dynamic")
+  if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+    file(MAKE_DIRECTORY ${CURRENT_PACKAGES_DIR}/bin)
+    file(RENAME ${CURRENT_PACKAGES_DIR}/OpenMeshCore.dll ${CURRENT_PACKAGES_DIR}/bin/OpenMeshCore.dll)
+    file(RENAME ${CURRENT_PACKAGES_DIR}/OpenMeshTools.dll ${CURRENT_PACKAGES_DIR}/bin/OpenMeshTools.dll)
+  endif()
+  if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+    file(MAKE_DIRECTORY ${CURRENT_PACKAGES_DIR}/debug/bin)
+    file(RENAME ${CURRENT_PACKAGES_DIR}/debug/OpenMeshCored.dll ${CURRENT_PACKAGES_DIR}/debug/bin/OpenMeshCored.dll)
+    file(RENAME ${CURRENT_PACKAGES_DIR}/debug/OpenMeshToolsd.dll ${CURRENT_PACKAGES_DIR}/debug/bin/OpenMeshToolsd.dll)
+  endif()
+endif()
+
+configure_file(${CMAKE_CURRENT_LIST_DIR}/vcpkg-cmake-wrapper.cmake ${CURRENT_PACKAGES_DIR}/share/${PORT}/vcpkg-cmake-wrapper.cmake @ONLY)
+file(INSTALL ${CMAKE_CURRENT_LIST_DIR}/usage DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT})
+# Handle copyright
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

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

@@ -0,0 +1,5 @@
+The package openmesh provides CMake targets:
+
+    find_package(openmesh REQUIRED)
+    target_include_directories(main PRIVATE ${OPENMESH_INCLUDE_DIRS})
+    target_link_libraries(main PRIVATE ${OPENMESH_LIBRARIES})

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

@@ -0,0 +1,18 @@
+include(FindPackageHandleStandardArgs)
+include(SelectLibraryConfigurations)
+
+find_path(OPENMESHCORE_INCLUDE_DIR EigenVectorT.hh PATH_SUFFIXES OpenMesh/Core/Geometry)
+get_filename_component(OPENMESHCORE_INCLUDE_DIR ${OPENMESHCORE_INCLUDE_DIR} DIRECTORY)
+get_filename_component(OPENMESHCORE_INCLUDE_DIR ${OPENMESHCORE_INCLUDE_DIR} DIRECTORY)
+get_filename_component(OPENMESHCORE_INCLUDE_DIR ${OPENMESHCORE_INCLUDE_DIR} DIRECTORY)
+
+find_library(OPENMESHCORE_LIBRARY_DEBUG NAMES OpenMeshCored libOpenMeshCored NAMES_PER_DIR PATH_SUFFIXES lib PATHS "${_VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}/debug" NO_DEFAULT_PATH REQUIRED)
+find_library(OPENMESHCORE_LIBRARY_RELEASE NAMES OpenMeshCore libOpenMeshCore NAMES_PER_DIR PATH_SUFFIXES lib PATHS "${_VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}" NO_DEFAULT_PATH REQUIRED)
+find_library(OPENMESHTOOLS_LIBRARY_DEBUG NAMES OpenMeshToolsd libOpenMeshToolsd NAMES_PER_DIR PATH_SUFFIXES lib PATHS "${_VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}/debug" NO_DEFAULT_PATH REQUIRED)
+find_library(OPENMESHTOOLS_LIBRARY_RELEASE NAMES OpenMeshTools libOpenMeshTools NAMES_PER_DIR PATH_SUFFIXES lib PATHS "${_VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}" NO_DEFAULT_PATH REQUIRED)
+
+select_library_configurations(OPENMESHCORE)
+select_library_configurations(OPENMESHTOOLS)
+
+set(OPENMESH_INCLUDE_DIRS ${OPENMESHCORE_INCLUDE_DIR})
+set(OPENMESH_LIBRARIES ${OPENMESHCORE_LIBRARY} ${OPENMESHTOOLS_LIBRARY})

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

@@ -0,0 +1,6 @@
+{
+  "name": "openmesh",
+  "version-string": "8.1",
+  "port-version": 3,
+  "description": "A generic and efficient polygon mesh data structure"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openmpi/keep_isystem.patch

@@ -0,0 +1,283 @@
+diff --git a/configure b/configure
+index b2451c4..a7fb4da 100755
+--- a/configure
++++ b/configure
+@@ -19562,6 +19562,10 @@ $as_echo "$as_me: WARNING: This usually indicates an error in configure." >&2;}
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -19653,6 +19657,10 @@ $as_echo "$as_me: WARNING: This usually indicates an error in configure." >&2;}
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -19759,6 +19767,10 @@ $as_echo "$as_me: WARNING: Code coverage functionality is currently available on
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -19946,6 +19958,10 @@ $as_echo "$opal_cv_cc_wno_long_double" >&6; }
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -20127,6 +20143,10 @@ $as_echo "$opal_cv_cc_fno_strict_aliasing" >&6; }
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -20267,6 +20287,10 @@ $as_echo "$opal_cv_cc_restrict_cflags" >&6; }
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -26120,6 +26144,10 @@ $as_echo "$as_me: WARNING: Code coverage functionality is currently available on
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -26297,6 +26325,10 @@ ac_compiler_gnu=$ac_cv_c_compiler_gnu
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -26441,6 +26473,10 @@ ac_compiler_gnu=$ac_cv_c_compiler_gnu
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -27799,6 +27835,10 @@ $as_echo "$as_me: WARNING: Code coverage functionality is currently available on
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -27973,6 +28013,10 @@ ac_compiler_gnu=$ac_cv_c_compiler_gnu
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -28117,6 +28161,10 @@ ac_compiler_gnu=$ac_cv_c_compiler_gnu
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -44127,6 +44175,10 @@ fi
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -60612,6 +60664,10 @@ $as_echo_n "checking if intel compiler _Quad == REAL*16... " >&6; }
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+@@ -60842,6 +60898,10 @@ $as_echo_n "checking if gnu compiler __float128 == REAL*16... " >&6; }
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+                 ;;
++        -isystem)
++                opal_found=0
++                opal_i=`expr $opal_count + 1`
++                ;;
+         --param)
+                 opal_found=0
+                 opal_i=`expr $opal_count + 1`
+diff --git a/opal/mca/pmix/pmix3x/pmix/configure b/opal/mca/pmix/pmix3x/pmix/configure
+index 0326a68..07df146 100755
+--- a/opal/mca/pmix/pmix3x/pmix/configure
++++ b/opal/mca/pmix/pmix3x/pmix/configure
+@@ -19386,6 +19386,10 @@ $as_echo "$pmix_cv_cc_coverage" >&6; }
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+                 ;;
++        -isystem)
++                pmix_found=0
++                pmix_i=`expr $pmix_count + 1`
++                ;;
+         --param)
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+@@ -19477,6 +19481,10 @@ $as_echo "$pmix_cv_cc_coverage" >&6; }
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+                 ;;
++        -isystem)
++                pmix_found=0
++                pmix_i=`expr $pmix_count + 1`
++                ;;
+         --param)
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+@@ -19583,6 +19591,10 @@ $as_echo "$as_me: WARNING: Code coverage functionality is currently available on
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+                 ;;
++        -isystem)
++                pmix_found=0
++                pmix_i=`expr $pmix_count + 1`
++                ;;
+         --param)
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+@@ -19770,6 +19782,10 @@ $as_echo "$pmix_cv_cc_wno_long_double" >&6; }
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+                 ;;
++        -isystem)
++                pmix_found=0
++                pmix_i=`expr $pmix_count + 1`
++                ;;
+         --param)
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+@@ -19951,6 +19967,10 @@ $as_echo "$pmix_cv_cc_fno_strict_aliasing" >&6; }
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+                 ;;
++        -isystem)
++                pmix_found=0
++                pmix_i=`expr $pmix_count + 1`
++                ;;
+         --param)
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+@@ -20091,6 +20111,10 @@ $as_echo "$pmix_cv_cc_restrict_cflags" >&6; }
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+                 ;;
++        -isystem)
++                pmix_found=0
++                pmix_i=`expr $pmix_count + 1`
++                ;;
+         --param)
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+@@ -53914,6 +53938,10 @@ fi
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+                 ;;
++        -isystem)
++                pmix_found=0
++                pmix_i=`expr $pmix_count + 1`
++                ;;
+         --param)
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+@@ -54005,6 +54033,10 @@ fi
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+                 ;;
++        -isystem)
++                pmix_found=0
++                pmix_i=`expr $pmix_count + 1`
++                ;;
+         --param)
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+@@ -54096,6 +54128,10 @@ fi
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+                 ;;
++        -isystem)
++                pmix_found=0
++                pmix_i=`expr $pmix_count + 1`
++                ;;
+         --param)
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+@@ -54187,6 +54223,10 @@ fi
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`
+                 ;;
++        -isystem)
++                pmix_found=0
++                pmix_i=`expr $pmix_count + 1`
++                ;;
+         --param)
+                 pmix_found=0
+                 pmix_i=`expr $pmix_count + 1`

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

@@ -0,0 +1,40 @@
+vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
+
+set(OpenMPI_FULL_VERSION "4.1.0")
+set(OpenMPI_SHORT_VERSION "4.1")
+
+vcpkg_download_distfile(ARCHIVE
+  URLS "https://download.open-mpi.org/release/open-mpi/v${OpenMPI_SHORT_VERSION}/openmpi-${OpenMPI_FULL_VERSION}.tar.gz"
+  FILENAME "openmpi-${OpenMPI_FULL_VERSION}.tar.gz"
+  SHA512 1f8117b11c5279d34194b4f5652b0223cf1258a4ac0efd40bab78f31f203068e027235a92a87e546b1b35c5b369bc90788b109c05a7068c75533a03649410e99
+)
+
+vcpkg_extract_source_archive_ex(
+    OUT_SOURCE_PATH SOURCE_PATH
+    ARCHIVE ${ARCHIVE}
+    PATCHES
+        keep_isystem.patch
+)
+
+vcpkg_find_acquire_program(PERL)
+get_filename_component(PERL_PATH ${PERL} DIRECTORY)
+vcpkg_add_to_path(${PERL_PATH})
+
+vcpkg_configure_make(
+        COPY_SOURCE
+        SOURCE_PATH ${SOURCE_PATH}
+        OPTIONS
+            --with-hwloc=internal
+            --with-libevent=internal
+            --disable-mpi-fortran
+        OPTIONS_DEBUG
+            --enable-debug
+)
+
+vcpkg_install_make(DISABLE_PARALLEL)
+vcpkg_fixup_pkgconfig()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,8 @@
+{
+  "name": "openmpi",
+  "version": "4.1.0",
+  "port-version": 4,
+  "description": "The Open MPI Project is an open source Message Passing Interface implementation that is developed and maintained by a consortium of academic, research, and industry partners. Open MPI is therefore able to combine the expertise, technologies, and resources from all across the High Performance Computing community in order to build the best MPI library available. Open MPI offers advantages for system and software vendors, application developers and computer science researchers.",
+  "homepage": "https://www.open-mpi.org/",
+  "supports": "!(windows | uwp)"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openmvg/0001-eigen_3.4.0.patch

@@ -0,0 +1,13 @@
+diff --git a/src/openMVG/multiview/solver_fundamental_kernel.cpp b/src/openMVG/multiview/solver_fundamental_kernel.cpp
+index 2ffd45a..bbf74b4 100644
+--- a/src/openMVG/multiview/solver_fundamental_kernel.cpp
++++ b/src/openMVG/multiview/solver_fundamental_kernel.cpp
+@@ -110,7 +110,7 @@ void EightPointSolver::Solve
+                          x2.colwise().homogeneous(),
+                          &epipolar_constraint);
+   // Find the F matrice in the nullspace of epipolar_constraint.
+-  Eigen::SelfAdjointEigenSolver<Mat9> solver
++  Eigen::SelfAdjointEigenSolver<Eigen::Matrix<double, 9, 9>> solver
+     (epipolar_constraint.transpose() * epipolar_constraint);
+   f = solver.eigenvectors().leftCols<1>();
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openmvg/0002-eigen-3.4.patch

@@ -0,0 +1,13 @@
+--- a/src/openMVG/multiview/CMakeLists.txt
++++ b/src/openMVG/multiview/CMakeLists.txt
+@@ -38,6 +38,9 @@ target_include_directories(openMVG_multiview
+     $<INSTALL_INTERFACE:include>
+ )
+ set_target_properties(openMVG_multiview PROPERTIES SOVERSION ${OPENMVG_VERSION_MAJOR} VERSION "${OPENMVG_VERSION_MAJOR}.${OPENMVG_VERSION_MINOR}")
++if (MSVC)
++  set_target_properties(openMVG_multiview PROPERTIES COMPILE_FLAGS "/bigobj")
++endif (MSVC)
+
+ add_library(openMVG_multiview_test_data ${MULTIVIEWTESTDATA})
+ target_link_libraries(openMVG_multiview_test_data PRIVATE openMVG_numeric openMVG_multiview)
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openmvg/build_fixes.patch

@@ -0,0 +1,763 @@
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 5d909ec..ab7eb6f 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -20,6 +20,7 @@ if (${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
+   message(FATAL_ERROR "In-source builds not allowed.")
+ endif()
+ 
++if(0)
+ # ==============================================================================
+ # OpenMVG build options
+ # ==============================================================================
+@@ -37,6 +38,7 @@ option(OpenMVG_USE_OPENMP "Enable OpenMP parallelization" ON)
+ #  and openMVG simultaneously
+ # ==============================================================================
+ option(OpenMVG_USE_OPENCV "Build or not opencv+openMVG samples programs" OFF)
++endif()
+ 
+ # ==============================================================================
+ # Since OpenCV 3, SIFT is no longer in the default modules. See
+@@ -95,6 +97,7 @@ if (CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+   register_definitions(-DOPENMVG_STD_UNORDERED_MAP)
+ endif()
+ 
++if(0)
+ # ==============================================================================
+ # Check that submodule have been initialized and updated
+ # ==============================================================================
+@@ -103,6 +106,7 @@ if (NOT EXISTS ${PROJECT_SOURCE_DIR}/dependencies/cereal/include)
+     "\n submodule(s) are missing, please update your repository:\n"
+     "  > git submodule update -i\n")
+ endif()
++endif()
+ 
+ # ==============================================================================
+ # Additional cmake find modules
+@@ -138,7 +142,6 @@ if (OpenMVG_USE_OPENMP)
+   find_package(OpenMP)
+   if (OPENMP_FOUND)
+     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+-    option(OpenMVG_USE_OPENMP "Use OpenMP for parallelization" ON)
+     register_definitions(-DOPENMVG_USE_OPENMP)
+     if (NOT MSVC)
+       if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+@@ -149,11 +152,6 @@ if (OpenMVG_USE_OPENMP)
+       endif()
+     endif (NOT MSVC)
+   endif (OPENMP_FOUND)
+-else (OpenMVG_USE_OPENMP)
+-    option(OpenMVG_USE_OPENMP "Use OpenMP for parallelization" OFF)
+-    include(UpdateCacheVariable)
+-    UPDATE_CACHE_VARIABLE(OpenMVG_USE_OPENMP OFF)
+-    remove_definitions(-DOPENMVG_USE_OPENMP)
+ endif (OpenMVG_USE_OPENMP)
+ 
+ # ==============================================================================
+@@ -170,9 +168,10 @@ endif()
+ # ==============================================================================
+ # IMAGE IO detection
+ # ==============================================================================
+-find_package(JPEG QUIET)
+-find_package(PNG QUIET)
+-find_package(TIFF QUIET)
++find_package(JPEG REQUIRED)
++find_package(PNG REQUIRED)
++find_package(TIFF REQUIRED)
++find_package(vlfeat REQUIRED)
+ 
+ # Folders
+ set_property(GLOBAL PROPERTY USE_FOLDERS ON)
+@@ -192,6 +191,7 @@ if (OpenMVG_BUILD_OPENGL_EXAMPLES)
+   set_property(TARGET glfw PROPERTY FOLDER OpenMVG/3rdParty/glfw)
+ endif (OpenMVG_BUILD_OPENGL_EXAMPLES)
+ 
++if(0)
+ # Dependencies install rules
+ install(
+   DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/dependencies/
+@@ -199,6 +199,7 @@ install(
+   COMPONENT headers
+   FILES_MATCHING PATTERN "*.hpp" PATTERN "*.h"
+ )
++endif()
+ 
+ # ==============================================================================
+ # --END-- SUBMODULE CONFIGURATION
+@@ -235,6 +236,7 @@ ENDMACRO(UNIT_TEST)
+ # - external by default
+ # - internal if cereal not found
+ # ==============================================================================
++if(0)
+ find_package(cereal QUIET CONFIG)
+ if (NOT TARGET cereal)
+   add_library(cereal INTERFACE)
+@@ -247,7 +249,11 @@ if (NOT TARGET cereal)
+ 
+   set(OpenMVG_USE_INTERNAL_CEREAL ON)
+ endif()
++endif()
+ 
++find_package(cereal REQUIRED CONFIG)
++get_target_property(CEREAL_INCLUDE_DIRS cereal::cereal INTERFACE_INCLUDE_DIRECTORIES)
++ 
+ # ==============================================================================
+ # Eigen
+ # ==============================================================================
+@@ -255,6 +261,7 @@ endif()
+ # - external if EIGEN_INCLUDE_DIR_HINTS is defined
+ # - internal if Eigen not found
+ # ==============================================================================
++if(0)
+ find_package(Eigen3 QUIET)
+ if (NOT Eigen3_FOUND)
+   set(EIGEN_INCLUDE_DIR_HINTS ${CMAKE_CURRENT_SOURCE_DIR}/third_party/eigen)
+@@ -263,6 +270,10 @@ if (NOT Eigen3_FOUND)
+ else()
+   set(EIGEN_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+ endif()
++endif()
++ 
++find_package(Eigen3 REQUIRED)
++set(EIGEN_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+ 
+ # ==============================================================================
+ # Ceres
+@@ -270,6 +281,7 @@ endif()
+ # - external by default if CERES_DIR_HINTS or find_package found a valid Ceres
+ # - internal if ceres not found (ceres-solver+cxsparse+miniglog)
+ # ==============================================================================
++if(0)
+ find_package(Ceres QUIET HINTS ${CERES_DIR_HINTS})
+ if (NOT Ceres_FOUND)
+   set(OpenMVG_USE_INTERNAL_CERES ON)
+@@ -281,6 +293,9 @@ if (NOT Ceres_FOUND)
+     STRING(REGEX REPLACE "version ([0-9.]+).*" "\\1" CERES_VERSION ${CERES_CONFIG})
+   set(CERES_LIBRARIES openMVG_ceres)
+ endif()
++endif()
++ 
++find_package(Ceres REQUIRED)
+ 
+ # ==============================================================================
+ # Flann
+@@ -288,6 +303,7 @@ endif()
+ # - internal by default (flann),
+ # - external if FLANN_INCLUDE_DIR_HINTS and a valid Flann setup is found
+ # ==============================================================================
++if(0)
+ if (NOT DEFINED FLANN_INCLUDE_DIR_HINTS)
+   set(FLANN_INCLUDE_DIR_HINTS ${CMAKE_CURRENT_SOURCE_DIR}/third_party/flann/src/cpp)
+   set(OpenMVG_USE_INTERNAL_FLANN ON)
+@@ -296,6 +312,9 @@ find_package(Flann QUIET)
+ if (NOT FLANN_FOUND OR OpenMVG_USE_INTERNAL_FLANN)
+   set(FLANN_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/third_party/flann/src/cpp)
+ endif()
++endif()
++ 
++find_package(flann REQUIRED)
+ 
+ # ==============================================================================
+ # CoinUtils
+@@ -303,6 +322,7 @@ endif()
+ # - internal by default (CoinUtils),
+ # - external if COINUTILS_INCLUDE_DIR_HINTS and a valid CoinUtils setup is found
+ # ==============================================================================
++if(0)
+ if (NOT DEFINED COINUTILS_INCLUDE_DIR_HINTS)
+   set(COINUTILS_INCLUDE_DIR_HINTS ${CMAKE_CURRENT_SOURCE_DIR}/dependencies/osi_clp/CoinUtils/src/)
+   set(OpenMVG_USE_INTERNAL_COINUTILS ON)
+@@ -312,6 +332,9 @@ if (NOT DEFINED COINUTILS_INCLUDE_DIR_HINTS)
+ else()
+   find_package(CoinUtils QUIET)
+ endif()
++endif()
++ 
++find_package(CoinUtils REQUIRED)
+ 
+ ## ==============================================================================
+ ## Clp
+@@ -319,6 +342,7 @@ endif()
+ ## - internal by default (Clp),
+ ## - external if CLP_INCLUDE_DIR_HINTS and a valid Clp setup is found
+ ## ==============================================================================
++if(0)
+ if (NOT DEFINED CLP_INCLUDE_DIR_HINTS)
+   set(CLP_INCLUDE_DIR_HINTS ${CMAKE_CURRENT_SOURCE_DIR}/dependencies/osi_clp/Clp/src/)
+   set(OpenMVG_USE_INTERNAL_CLP ON)
+@@ -330,13 +354,17 @@ if (NOT DEFINED CLP_INCLUDE_DIR_HINTS)
+ else()
+   find_package(Clp QUIET)
+ endif()
++endif()
+ 
++find_package(Clp REQUIRED)
++ 
+ # ==============================================================================
+ # Osi
+ # ==============================================================================
+ # - internal by default (Osi),
+ # - external if OSI_INCLUDE_DIR_HINTS and a valid Osi setup is found
+ # ==============================================================================
++if(0)
+ if (NOT DEFINED OSI_INCLUDE_DIR_HINTS)
+   set(OSI_INCLUDE_DIR_HINTS ${CMAKE_CURRENT_SOURCE_DIR}/dependencies/osi_clp/Osi/src/)
+   set(OpenMVG_USE_INTERNAL_OSI ON)
+@@ -346,6 +374,9 @@ if (NOT DEFINED OSI_INCLUDE_DIR_HINTS)
+ else()
+   find_package(Osi QUIET)
+ endif()
++endif()
++
++find_package(Osi REQUIRED)
+ 
+ # ==============================================================================
+ # Internal CLP/OSI/COINUTILS libraries:
+@@ -364,6 +395,7 @@ endif()
+ # - internal by default (Lemon),
+ # - external if LEMON_INCLUDE_DIR_HINTS and a valid Lemon setup is found
+ # ==============================================================================
++if(0)
+ if (NOT DEFINED LEMON_INCLUDE_DIR_HINTS)
+   set(LEMON_INCLUDE_DIR_HINTS ${CMAKE_CURRENT_SOURCE_DIR}/third_party/lemon)
+   set(OpenMVG_USE_INTERNAL_LEMON ON)
+@@ -374,6 +406,9 @@ if (NOT LEMON_FOUND OR OpenMVG_USE_INTERNAL_LEMON)
+     ${CMAKE_CURRENT_SOURCE_DIR}/third_party/lemon
+     ${PROJECT_BINARY_DIR}/third_party/lemon)
+ endif()
++endif()
++
++find_package(LEMON REQUIRED)
+ 
+ # ==============================================================================
+ # OpenCV
+@@ -381,12 +416,7 @@ endif()
+ # - only external and enabled only if OpenMVG_USE_OPENCV is set to ON
+ # ==============================================================================
+ if (OpenMVG_USE_OPENCV)
+-  find_package( OpenCV QUIET )
+-  if (NOT OpenCV_FOUND OR OpenCV_VERSION VERSION_LESS "3.0.0")
+-    message(STATUS "OpenCV was not found (note that OpenCV version >= 3.0.0 is required). -> Disabling OpenCV support.")
+-    UPDATE_CACHE_VARIABLE(OpenMVG_USE_OPENCV OFF)
+-    UPDATE_CACHE_VARIABLE(OpenMVG_USE_OCVSIFT OFF)
+-  endif()
++    find_package( OpenCV REQUIRED )
+ endif()
+ 
+ 
+@@ -394,7 +424,6 @@ endif()
+ # Third-party libraries:
+ # ==============================================================================
+ add_subdirectory(third_party)
+-add_subdirectory(testing)
+ 
+ # ==============================================================================
+ # openMVG modules
+@@ -481,67 +510,67 @@ message("** Use OpenCV SIFT features: " ${OpenMVG_USE_OCVSIFT})
+ 
+ message("\n")
+ 
+-if (DEFINED OpenMVG_USE_INTERNAL_CEREAL)
++if (OpenMVG_USE_INTERNAL_CEREAL)
+   message(STATUS "CEREAL: (internal)")
+ else()
+   message(STATUS "CEREAL: (external)")
+ endif()
+ 
+-if (DEFINED OpenMVG_USE_INTERNAL_EIGEN)
++if (OpenMVG_USE_INTERNAL_EIGEN)
+   message(STATUS "EIGEN: " ${EIGEN_VERSION} " (internal)")
+ else()
+   message(STATUS "EIGEN: " ${EIGEN_VERSION} " (external)")
+ endif()
+ 
+-if (DEFINED OpenMVG_USE_INTERNAL_CERES)
++if (OpenMVG_USE_INTERNAL_CERES)
+   message(STATUS "CERES: " ${CERES_VERSION} " (internal)")
+ else()
+   message(STATUS "CERES: " ${CERES_VERSION} " (external)")
+ endif()
+ 
+-if (DEFINED OpenMVG_USE_INTERNAL_FLANN)
++if (OpenMVG_USE_INTERNAL_FLANN)
+   message(STATUS "FLANN: " ${FLANN_VERSION} " (internal)")
+ else()
+   message(STATUS "FLANN: " ${FLANN_VERSION} " (external)")
+ endif()
+ 
+-if (DEFINED OpenMVG_USE_INTERNAL_TIFF)
++if (OpenMVG_USE_INTERNAL_TIFF)
+   message(STATUS "LIBTIFF: " ${TIFF_VERSION_STRING} " (internal)")
+ else()
+   message(STATUS "LIBTIFF: " ${TIFF_VERSION_STRING} " (external)")
+ endif()
+ 
+-if (DEFINED OpenMVG_USE_INTERNAL_PNG)
++if (OpenMVG_USE_INTERNAL_PNG)
+   message(STATUS "LIBPNG: " ${PNG_VERSION_STRING} " (internal)")
+ else()
+   message(STATUS "LIBPNG: " ${PNG_VERSION_STRING} " (external)")
+ endif()
+ 
+-if (DEFINED OpenMVG_USE_INTERNAL_JPEG)
++if (OpenMVG_USE_INTERNAL_JPEG)
+   message(STATUS "LIBJPEG (internal)")
+ else()
+   message(STATUS "LIBJPEG (external)")
+ endif()
+ 
+-if (DEFINED OpenMVG_USE_INTERNAL_CLP)
++if (OpenMVG_USE_INTERNAL_CLP)
+   message(STATUS "CLP: " ${CLP_VERSION} " (internal)")
+ else()
+   message(STATUS "CLP: " ${CLP_VERSION} " (external)")
+ endif()
+ 
+-if (DEFINED OpenMVG_USE_INTERNAL_COINUTILS)
++if (OpenMVG_USE_INTERNAL_COINUTILS)
+   message(STATUS "COINUTILS: " ${COINUTILS_VERSION} " (internal)")
+ else()
+   message(STATUS "COINUTILS: " ${COINUTILS_VERSION} " (external)")
+ endif()
+ 
+-if (DEFINED OpenMVG_USE_INTERNAL_OSI)
++if (OpenMVG_USE_INTERNAL_OSI)
+   message(STATUS "OSI: " ${OSI_VERSION} " (internal)")
+ else()
+   message(STATUS "OSI: " ${OSI_VERSION} " (external)")
+ endif()
+ 
+-if (DEFINED OpenMVG_USE_INTERNAL_LEMON)
++if (OpenMVG_USE_INTERNAL_LEMON)
+   message(STATUS "LEMON: " ${LEMON_VERSION} " (internal)")
+ else()
+   message(STATUS "LEMON: " ${LEMON_VERSION} " (external)")
+diff --git a/src/cmakeFindModules/FindClp.cmake b/src/cmakeFindModules/FindClp.cmake
+index 8a69c23..6ebc661 100644
+--- a/src/cmakeFindModules/FindClp.cmake
++++ b/src/cmakeFindModules/FindClp.cmake
+@@ -50,8 +50,8 @@ IF(EXISTS "${CLP_DIR}" AND NOT "${CLP_DIR}" STREQUAL "")
+         ENDIF (NOT EXISTS ${CLP_VERSION_FILE})
+         SET(CLP_INCLUDE_DIR ${CLP_DIR})
+ 
+-        FIND_LIBRARY(CLP_LIBRARY NAMES Clp)
+-        FIND_LIBRARY(CLPSOLVER_LIBRARY NAMES ClpSolver)
++        FIND_LIBRARY(CLPSOLVER_LIBRARY NAMES ClpSolver Clp)
++        FIND_LIBRARY(OSICLP_LIBRARY NAMES OsiClp Clp)
+         FIND_LIBRARY(OSICLP_LIBRARY NAMES OsiClp)
+ 
+         # locate Clp libraries
+diff --git a/src/cmakeFindModules/OpenMVGConfig.cmake.in b/src/cmakeFindModules/OpenMVGConfig.cmake.in
+index e7dfbfd..65224c4 100644
+--- a/src/cmakeFindModules/OpenMVGConfig.cmake.in
++++ b/src/cmakeFindModules/OpenMVGConfig.cmake.in
+@@ -19,7 +19,7 @@
+ # OPENMVG_VERSION: Version of OpenMVG found.
+ #
+ 
+-# Called if we failed to find OpenMVG or any of it's required dependencies,
++# Called if we failed to find OpenMVG or any of its required dependencies,
+ # unsets all public (designed to be used externally) variables and reports
+ # error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
+ macro(OPENMVG_REPORT_NOT_FOUND REASON_MSG)
+@@ -58,10 +58,20 @@ set(CALLERS_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH})
+ # Reset CMake module path to the installation directory of this
+ # script.
+ set(CMAKE_MODULE_PATH ${CURRENT_CONFIG_INSTALL_DIR})
++include(CMakeFindDependencyMacro)
++
++find_dependency(CoinUtils)
++find_dependency(Clp)
++find_dependency(Osi)
++find_dependency(flann)
++find_dependency(Threads)
++find_dependency(cereal)
++find_dependency(Ceres)
++find_dependency(vlfeat)
+ 
+ # Build the absolute root install directory as a relative path
+ get_filename_component(CURRENT_ROOT_INSTALL_DIR
+-  ${CMAKE_MODULE_PATH}/../../../ ABSOLUTE)
++  ${CMAKE_MODULE_PATH}/../../ ABSOLUTE)
+ if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
+   OPENMVG_REPORT_NOT_FOUND(
+     "OpenMVG install root: ${CURRENT_ROOT_INSTALL_DIR}, "
+diff --git a/src/nonFree/sift/CMakeLists.txt b/src/nonFree/sift/CMakeLists.txt
+index 402a2d8..60ddc11 100644
+--- a/src/nonFree/sift/CMakeLists.txt
++++ b/src/nonFree/sift/CMakeLists.txt
+@@ -1,36 +1,36 @@
+ 
+-# libs should be static
+-set(BUILD_SHARED_LIBS OFF)
+-
+-# use PIC code for link into shared lib
+-if(UNIX)
+-  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
+-endif(UNIX)
+-
+-if(NOT USE_SSE2)
+-  add_definitions(-DVL_DISABLE_SSE2)
+-endif()
+-
+-add_definitions(-DVL_DISABLE_THREADS)
+-
+-include_directories(./vl)
+-set(FEATS
+-  vl/generic.c
+-  vl/imopv_sse2.c
+-  vl/sift.c
+-  vl/imopv.c
+-  vl/mathop_sse2.c
+-  vl/sift.c
+-  vl/host.c
+-  vl/mathop.c
+-  vl/random.c)
+-set_source_files_properties(${FEATS} PROPERTIES LANGUAGE C)
+-add_library(vlsift ${FEATS})
+-install(TARGETS vlsift DESTINATION lib EXPORT openMVG-targets)
+-set_property(TARGET vlsift PROPERTY FOLDER OpenMVG/nonFree)
++## libs should be static
++#set(BUILD_SHARED_LIBS OFF)
++#
++## use PIC code for link into shared lib
++#if(UNIX)
++#  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
++#endif(UNIX)
++#
++#if(NOT USE_SSE2)
++#  add_definitions(-DVL_DISABLE_SSE2)
++#endif()
++#
++#add_definitions(-DVL_DISABLE_THREADS)
++#
++#include_directories(./vl)
++#set(FEATS
++#  vl/generic.c
++#  vl/imopv_sse2.c
++#  vl/sift.c
++#  vl/imopv.c
++#  vl/mathop_sse2.c
++#  vl/sift.c
++#  vl/host.c
++#  vl/mathop.c
++#  vl/random.c)
++#set_source_files_properties(${FEATS} PROPERTIES LANGUAGE C)
++#add_library(vlsift ${FEATS})
++#install(TARGETS vlsift DESTINATION lib EXPORT openMVG-targets)
++#set_property(TARGET vlsift PROPERTY FOLDER OpenMVG/nonFree)
+ install(
+   DIRECTORY .
+   DESTINATION include/openMVG_dependencies/nonFree/sift
+   COMPONENT headers
+-  FILES_MATCHING PATTERN "*.hpp" PATTERN "*.h"
++  FILES_MATCHING PATTERN "*.hpp"
+ )
+diff --git a/src/nonFree/sift/SIFT_describer.hpp b/src/nonFree/sift/SIFT_describer.hpp
+index cd800b0..20e9c8e 100644
+--- a/src/nonFree/sift/SIFT_describer.hpp
++++ b/src/nonFree/sift/SIFT_describer.hpp
+@@ -17,9 +17,7 @@
+ #include <iostream>
+ #include <numeric>
+ 
+-extern "C" {
+-#include "nonFree/sift/vl/sift.h"
+-}
++#include <sift.h>
+ 
+ namespace openMVG {
+ namespace features {
+@@ -174,7 +172,7 @@ public:
+       const int nkeys = vl_sift_get_nkeypoints(filt);
+ 
+       // Update gradient before launching parallel extraction
+-      vl_sift_update_gradient(filt);
++      update_gradient(filt);
+ 
+       #ifdef OPENMVG_USE_OPENMP
+       #pragma omp parallel for private(descr, descriptor)
+diff --git a/src/openMVG/linearProgramming/CMakeLists.txt b/src/openMVG/linearProgramming/CMakeLists.txt
+index cc5212f..acc57dd 100644
+--- a/src/openMVG/linearProgramming/CMakeLists.txt
++++ b/src/openMVG/linearProgramming/CMakeLists.txt
+@@ -15,16 +15,12 @@ target_link_libraries(openMVG_linearProgramming
+   PUBLIC
+     openMVG_numeric
+   PRIVATE
+-    ${CLP_LIBRARIES}     # clp + solver wrapper
+-    ${COINUTILS_LIBRARY} # container tools
+-    ${OSI_LIBRARY}       # generic LP
++    Coin::Clp       # clp + solver wrapper
++    Coin::CoinUtils # container tools
++    Coin::Osi       # generic LP
+ )
+ 
+ target_include_directories(openMVG_linearProgramming
+-  PRIVATE
+-    ${CLP_INCLUDE_DIRS}
+-    ${COINUTILS_INCLUDE_DIRS}
+-    ${OSI_INCLUDE_DIRS}
+   PUBLIC
+     $<INSTALL_INTERFACE:include>
+ )
+diff --git a/src/openMVG/matching/CMakeLists.txt b/src/openMVG/matching/CMakeLists.txt
+index 2e0eafd7..d54d1e88 100644
+--- a/src/openMVG/matching/CMakeLists.txt
++++ b/src/openMVG/matching/CMakeLists.txt
+@@ -16,6 +16,7 @@ list(REMOVE_ITEM matching_files_cpp ${REMOVEFILESUNITTEST})
+ 
+ set(THREADS_PREFER_PTHREAD_FLAG ON)
+ find_package(Threads REQUIRED)
++find_package(flann CONFIG REQUIRED)
+ 
+ set_source_files_properties(${matching_files_cpp} PROPERTIES LANGUAGE CXX)
+ add_library(openMVG_matching
+@@ -35,12 +36,12 @@ target_link_libraries(openMVG_matching
+   PUBLIC
+     openMVG_features
+     Threads::Threads
+-    cereal
++    cereal::cereal
+ )
+-if (NOT DEFINED OpenMVG_USE_INTERNAL_FLANN)
++if (NOT OpenMVG_USE_INTERNAL_FLANN)
+ target_link_libraries(openMVG_matching
+   PUBLIC
+-    ${FLANN_LIBRARIES}
++    $<IF:$<TARGET_EXISTS:flann::flann_s>,flann::flann_s,flann::flann>
+ )
+ endif()
+ set_target_properties(openMVG_matching PROPERTIES SOVERSION ${OPENMVG_VERSION_MAJOR} VERSION "${OPENMVG_VERSION_MAJOR}.${OPENMVG_VERSION_MINOR}")
+diff --git a/src/openMVG/numeric/CMakeLists.txt b/src/openMVG/numeric/CMakeLists.txt
+index 1f3fc30..4097320 100644
+--- a/src/openMVG/numeric/CMakeLists.txt
++++ b/src/openMVG/numeric/CMakeLists.txt
+@@ -26,7 +26,7 @@ target_include_directories(openMVG_numeric
+     $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
+     $<INSTALL_INTERFACE:include>
+ )
+-if (DEFINED OpenMVG_USE_INTERNAL_EIGEN)
++if (OpenMVG_USE_INTERNAL_EIGEN)
+   target_include_directories(openMVG_numeric PUBLIC
+     $<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/include/openMVG/third_party/eigen/>)
+ else()
+diff --git a/src/openMVG_Samples/describe_and_match_GUI/CMakeLists.txt b/src/openMVG_Samples/describe_and_match_GUI/CMakeLists.txt
+index 862ffc7..62508af 100644
+--- a/src/openMVG_Samples/describe_and_match_GUI/CMakeLists.txt
++++ b/src/openMVG_Samples/describe_and_match_GUI/CMakeLists.txt
+@@ -18,8 +18,7 @@ if (OpenMVG_BUILD_GUI_SOFTWARES)
+       add_executable( openMVG_sample_describe_and_match_GUI WIN32 ${FEATURES_PAIR_DEMO_SRCS} ${FEATURES_PAIR_DEMO_HDRS} )
+     endif( APPLE )
+ 
+-    target_link_libraries( openMVG_sample_describe_and_match_GUI Qt5::Widgets openMVG_features openMVG_image openMVG_matching vlsift )
+-
++    target_link_libraries( openMVG_sample_describe_and_match_GUI Qt5::Widgets openMVG_features openMVG_image openMVG_matching unofficial::vlfeat::vl )
+     set_target_properties( openMVG_sample_describe_and_match_GUI PROPERTIES CXX_STANDARD 11)
+ 
+     set_property(TARGET openMVG_sample_describe_and_match_GUI PROPERTY FOLDER OpenMVG/Samples)
+diff --git a/src/openMVG_Samples/features_image_matching/CMakeLists.txt b/src/openMVG_Samples/features_image_matching/CMakeLists.txt
+index 18fb385..d44ffce 100644
+--- a/src/openMVG_Samples/features_image_matching/CMakeLists.txt
++++ b/src/openMVG_Samples/features_image_matching/CMakeLists.txt
+@@ -5,7 +5,7 @@ target_link_libraries(openMVG_sample_image_matching
+   openMVG_features
+   openMVG_matching
+   ${STLPLUS_LIBRARY}
+-  vlsift)
++  unofficial::vlfeat::vl)
+ target_compile_definitions(openMVG_sample_image_matching
+   PRIVATE -DTHIS_SOURCE_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
+ 
+diff --git a/src/openMVG_Samples/features_repeatability/CMakeLists.txt b/src/openMVG_Samples/features_repeatability/CMakeLists.txt
+index fd2b7c6..91f2766 100644
+--- a/src/openMVG_Samples/features_repeatability/CMakeLists.txt
++++ b/src/openMVG_Samples/features_repeatability/CMakeLists.txt
+@@ -6,7 +6,7 @@ target_link_libraries(openMVG_sample_main_features_repeatability_dataset
+   openMVG_matching
+   openMVG_system
+   openMVG_multiview
+-  vlsift
++  unofficial::vlfeat::vl
+   ${STLPLUS_LIBRARY})
+ 
+ set_property(TARGET openMVG_sample_main_features_repeatability_dataset PROPERTY FOLDER OpenMVG/Samples)
+diff --git a/src/software/Localization/CMakeLists.txt b/src/software/Localization/CMakeLists.txt
+index 2f60393..0d57d0a 100644
+--- a/src/software/Localization/CMakeLists.txt
++++ b/src/software/Localization/CMakeLists.txt
+@@ -11,7 +11,7 @@ target_link_libraries(openMVG_main_SfM_Localization
+   openMVG_sfm
+   openMVG_exif
+   ${STLPLUS_LIBRARY}
+-  vlsift
++  unofficial::vlfeat::vl
+   )
+ 
+ # Installation rules
+diff --git a/src/software/SfM/CMakeLists.txt b/src/software/SfM/CMakeLists.txt
+index 6db7e83..51e06f5 100644
+--- a/src/software/SfM/CMakeLists.txt
++++ b/src/software/SfM/CMakeLists.txt
+@@ -44,7 +44,7 @@ target_link_libraries(openMVG_main_ComputeFeatures
+     openMVG_multiview
+     openMVG_sfm
+     ${STLPLUS_LIBRARY}
+-    vlsift
++    unofficial::vlfeat::vl
+ )
+ if (MSVC)
+   set_target_properties(openMVG_main_ComputeFeatures PROPERTIES COMPILE_FLAGS "/bigobj")
+@@ -275,7 +275,7 @@ if(OpenMVG_USE_OPENCV)
+     openMVG_multiview
+     openMVG_sfm
+     ${STLPLUS_LIBRARY}
+-    vlsift
++    unofficial::vlfeat::vl
+     ${OpenCV_LIBS})
+   target_include_directories(openMVG_main_ComputeFeatures_OpenCV PRIVATE ${OpenCV_INCLUDE_DIRS})
+ 
+diff --git a/src/software/SfM/SfM_GlobalPipeline.py.in b/src/software/SfM/SfM_GlobalPipeline.py.in
+index 42b41cc..7fda0cd 100644
+--- a/src/software/SfM/SfM_GlobalPipeline.py.in
++++ b/src/software/SfM/SfM_GlobalPipeline.py.in
+@@ -21,7 +21,7 @@
+ OPENMVG_SFM_BIN = "@OPENMVG_SOFTWARE_SFM_BUILD_DIR@"
+ 
+ # Indicate the openMVG camera sensor width directory
+-CAMERA_SENSOR_WIDTH_DIRECTORY = "@OPENMVG_SOFTWARE_SFM_SRC_DIR@" + "/../../openMVG/exif/sensor_width_database"
++CAMERA_SENSOR_WIDTH_DIRECTORY = "@OPENMVG_CAMERA_SENSOR_WIDTH_DIRECTORY@"
+ 
+ import os
+ import subprocess
+diff --git a/src/software/SfM/SfM_SequentialPipeline.py.in b/src/software/SfM/SfM_SequentialPipeline.py.in
+index 423c85c..0ff2e77 100644
+--- a/src/software/SfM/SfM_SequentialPipeline.py.in
++++ b/src/software/SfM/SfM_SequentialPipeline.py.in
+@@ -21,7 +21,7 @@
+ OPENMVG_SFM_BIN = "@OPENMVG_SOFTWARE_SFM_BUILD_DIR@"
+ 
+ # Indicate the openMVG camera sensor width directory
+-CAMERA_SENSOR_WIDTH_DIRECTORY = "@OPENMVG_SOFTWARE_SFM_SRC_DIR@" + "/../../openMVG/exif/sensor_width_database"
++CAMERA_SENSOR_WIDTH_DIRECTORY = "@OPENMVG_CAMERA_SENSOR_WIDTH_DIRECTORY@"
+ 
+ import os
+ import subprocess
+diff --git a/src/software/SfM/tutorial_demo.py.in b/src/software/SfM/tutorial_demo.py.in
+index c7361f3..1c56aab 100644
+--- a/src/software/SfM/tutorial_demo.py.in
++++ b/src/software/SfM/tutorial_demo.py.in
+@@ -12,7 +12,7 @@
+ OPENMVG_SFM_BIN = "@OPENMVG_SOFTWARE_SFM_BUILD_DIR@"
+ 
+ # Indicate the openMVG camera sensor width directory
+-CAMERA_SENSOR_WIDTH_DIRECTORY = "@OPENMVG_SOFTWARE_SFM_SRC_DIR@" + "/../../openMVG/exif/sensor_width_database"
++CAMERA_SENSOR_WIDTH_DIRECTORY = "@OPENMVG_CAMERA_SENSOR_WIDTH_DIRECTORY@"
+ 
+ import os
+ import subprocess
+diff --git a/src/software/VO/Tracker_opencv_klt.hpp b/src/software/VO/Tracker_opencv_klt.hpp
+index aa7dffe..2c4d237 100644
+--- a/src/software/VO/Tracker_opencv_klt.hpp
++++ b/src/software/VO/Tracker_opencv_klt.hpp
+@@ -80,7 +80,7 @@ struct Tracker_opencv_KLT : public Abstract_Tracker
+     std::vector<cv::KeyPoint> m_nextKeypoints;
+ 
+     cv::Ptr<cv::FeatureDetector> m_detector = cv::GFTTDetector::create(count);
+-    if (m_detector == NULL)
++    if (m_detector == nullptr)
+       return false;
+ 
+     m_detector->detect(current_img, m_nextKeypoints);
+diff --git a/src/third_party/CMakeLists.txt b/src/third_party/CMakeLists.txt
+index 0d61c9f..05c8b29 100644
+--- a/src/third_party/CMakeLists.txt
++++ b/src/third_party/CMakeLists.txt
+@@ -18,7 +18,7 @@ add_subdirectory(stlplus3)
+ set(STLPLUS_LIBRARY openMVG_stlplus PARENT_SCOPE)
+ 
+ # Add graph library
+-if(DEFINED OpenMVG_USE_INTERNAL_LEMON)
++if(OpenMVG_USE_INTERNAL_LEMON)
+   add_subdirectory(lemon)
+   set(LEMON_LIBRARY openMVG_lemon PARENT_SCOPE)
+ endif()
+@@ -67,7 +67,7 @@ endif (NOT TIFF_FOUND)
+ add_subdirectory(vectorGraphics)
+ 
+ # Add ceres-solver (A Nonlinear Least Squares Minimizer)
+-if (DEFINED OpenMVG_USE_INTERNAL_CERES)
++if (OpenMVG_USE_INTERNAL_CERES)
+   add_subdirectory(cxsparse)
+   add_subdirectory(ceres-solver)
+   set_property(TARGET openMVG_cxsparse PROPERTY FOLDER OpenMVG/3rdParty/ceres)
+@@ -75,7 +75,7 @@ if (DEFINED OpenMVG_USE_INTERNAL_CERES)
+ endif()
+ 
+ # Add an Approximate Nearest Neighbor library
+-if (DEFINED OpenMVG_USE_INTERNAL_FLANN)
++if (OpenMVG_USE_INTERNAL_FLANN)
+   set(FLANN_INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/include/openMVG/third_party/flann/src/cpp)
+   add_subdirectory(flann)
+ endif()
+@@ -89,7 +89,7 @@ add_subdirectory(fast)
+ ##
+ # Install Header only libraries if necessary
+ ##
+-if (DEFINED OpenMVG_USE_INTERNAL_EIGEN)
++if (OpenMVG_USE_INTERNAL_EIGEN)
+   #Configure Eigen install
+   set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/include/openMVG/third_party/eigen)
+   add_subdirectory(eigen)
+diff --git a/src/openMVG/cameras/CMakeLists.txt b/src/openMVG/cameras/CMakeLists.txt
+index 333ab729..50c8f572 100644
+--- a/src/openMVG/cameras/CMakeLists.txt
++++ b/src/openMVG/cameras/CMakeLists.txt
+@@ -4,7 +4,7 @@ set_property(TARGET openMVG_camera APPEND PROPERTY
+   INTERFACE_INCLUDE_DIRECTORIES "$<INSTALL_INTERFACE:include>")
+ 
+ target_compile_features(openMVG_camera INTERFACE ${CXX11_FEATURES})
+-target_link_libraries(openMVG_camera INTERFACE openMVG_numeric cereal ${OPENMVG_LIBRARY_DEPENDENCIES})
++target_link_libraries(openMVG_camera INTERFACE openMVG_numeric cereal::cereal ${OPENMVG_LIBRARY_DEPENDENCIES})
+ install(TARGETS openMVG_camera DESTINATION lib EXPORT openMVG-targets)
+ 
+ UNIT_TEST(openMVG Camera_Pinhole openMVG_camera)
+diff --git a/src/openMVG/features/CMakeLists.txt b/src/openMVG/features/CMakeLists.txt
+index 2e49701d..0b5e1c3d 100644
+--- a/src/openMVG/features/CMakeLists.txt
++++ b/src/openMVG/features/CMakeLists.txt
+@@ -31,7 +31,7 @@ target_include_directories(openMVG_features
+ )
+ target_link_libraries(openMVG_features
+   PRIVATE openMVG_fast ${STLPLUS_LIBRARY}
+-  PUBLIC ${OPENMVG_LIBRARY_DEPENDENCIES} cereal)
++  PUBLIC ${OPENMVG_LIBRARY_DEPENDENCIES} cereal::cereal)
+ if (MSVC)
+   set_target_properties(openMVG_features PROPERTIES COMPILE_FLAGS "/bigobj")
+   target_compile_options(openMVG_features PUBLIC "-D_USE_MATH_DEFINES")
+diff --git a/src/openMVG/geometry/CMakeLists.txt b/src/openMVG/geometry/CMakeLists.txt
+index 0a6a016a..e509a4d5 100644
+--- a/src/openMVG/geometry/CMakeLists.txt
++++ b/src/openMVG/geometry/CMakeLists.txt
+@@ -21,7 +21,7 @@ set_property(TARGET openMVG_geometry PROPERTY FOLDER OpenMVG/OpenMVG)
+ target_link_libraries(openMVG_geometry
+   PUBLIC
+     openMVG_numeric
+-    cereal
++    cereal::cereal
+   PRIVATE
+     openMVG_linearProgramming
+ )
+diff --git a/src/openMVG/sfm/CMakeLists.txt b/src/openMVG/sfm/CMakeLists.txt
+index b8928083..1d10f939 100644
+--- a/src/openMVG/sfm/CMakeLists.txt
++++ b/src/openMVG/sfm/CMakeLists.txt
+@@ -25,7 +25,7 @@ target_link_libraries(openMVG_sfm
+     openMVG_graph
+     openMVG_matching
+     openMVG_multiview
+-    cereal
++    cereal::cereal
+     ${OPENMVG_LIBRARY_DEPENDENCIES}
+ )
+ 

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

@@ -0,0 +1,173 @@
+vcpkg_buildpath_length_warning(37)
+
+#the port produces some empty dlls when building shared libraries, since some components do not export anything, breaking the internal build itself
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+if("software" IN_LIST FEATURES AND VCPKG_CRT_LINKAGE STREQUAL static)
+    message(FATAL_ERROR "OpenMVG software currently cannot be built with static CRT linking. Please open an issue if you require this feature.")
+endif()
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO openMVG/openMVG
+    REF d0fe73dd426ae4001631a51272cff71047522df9  # v2.0
+    SHA512 1d5c68971ad63ced46d8b9070bdacc1065b4ba950fe919e11f952a004def87d4d83a474d48aee714c21b12106d7d81187d3670d8a2e6daf2d3c5fceb008a5de3
+    PATCHES
+        build_fixes.patch
+        0001-eigen_3.4.0.patch
+        0002-eigen-3.4.patch
+)
+
+set(OpenMVG_USE_OPENMP OFF)
+if("openmp" IN_LIST FEATURES)
+    set(OpenMVG_USE_OPENMP ON)
+endif()
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        opencv OpenMVG_USE_OPENCV
+        opencv OpenMVG_USE_OCVSIFT
+        software OpenMVG_BUILD_SOFTWARES
+        software OpenMVG_BUILD_GUI_SOFTWARES
+)
+
+# remove some deps to prevent conflict
+file(REMOVE_RECURSE ${SOURCE_PATH}/src/third_party/ceres-solver
+                    ${SOURCE_PATH}/src/third_party/cxsparse
+                    ${SOURCE_PATH}/src/third_party/eigen
+                    ${SOURCE_PATH}/src/third_party/flann
+                    ${SOURCE_PATH}/src/third_party/jpeg
+                    ${SOURCE_PATH}/src/third_party/lemon
+                    ${SOURCE_PATH}/src/third_party/png
+                    ${SOURCE_PATH}/src/third_party/tiff
+                    ${SOURCE_PATH}/src/third_party/zlib)
+
+# remove some cmake modules to force using our configs
+file(REMOVE_RECURSE ${SOURCE_PATH}/src/cmakeFindModules/FindEigen.cmake
+                    ${SOURCE_PATH}/src/cmakeFindModules/FindLemon.cmake
+                    ${SOURCE_PATH}/src/cmakeFindModules/FindFlann.cmake
+                    ${SOURCE_PATH}/src/cmakeFindModules/FindCoinUtils.cmake
+                    ${SOURCE_PATH}/src/cmakeFindModules/FindClp.cmake
+                    ${SOURCE_PATH}/src/cmakeFindModules/FindOsi.cmake)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}/src"
+    OPTIONS ${FEATURE_OPTIONS}
+        -DOpenMVG_USE_OPENMP=${OpenMVG_USE_OPENMP}
+        -DOpenMVG_BUILD_SHARED=OFF
+        -DOpenMVG_BUILD_TESTS=OFF
+        -DOpenMVG_BUILD_DOC=OFF
+        -DOpenMVG_BUILD_EXAMPLES=OFF
+        -DOpenMVG_BUILD_OPENGL_EXAMPLES=OFF
+        -DOpenMVG_BUILD_COVERAGE=OFF
+        -DOpenMVG_USE_INTERNAL_CLP=OFF
+        -DOpenMVG_USE_INTERNAL_COINUTILS=OFF
+        -DOpenMVG_USE_INTERNAL_OSI=OFF
+        -DOpenMVG_USE_INTERNAL_EIGEN=OFF
+        -DOpenMVG_USE_INTERNAL_CEREAL=OFF
+        -DOpenMVG_USE_INTERNAL_CERES=OFF
+        -DOpenMVG_USE_INTERNAL_FLANN=OFF
+        -DOpenMVG_USE_INTERNAL_LEMON=OFF
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH share/openMVG/cmake)
+
+if (NOT VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include" "${CURRENT_PACKAGES_DIR}/debug/share")
+    file(REMOVE "${CURRENT_PACKAGES_DIR}/debug/lib/openMVG-targets.cmake" "${CURRENT_PACKAGES_DIR}/debug/lib/openMVG-targets-debug.cmake")
+endif()
+file(REMOVE "${CURRENT_PACKAGES_DIR}/lib/openMVG-targets.cmake" "${CURRENT_PACKAGES_DIR}/lib/openMVG-targets-release.cmake")
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/include/openMVG/image/image_test"
+                    "${CURRENT_PACKAGES_DIR}/include/openMVG/exif/image_data"
+                    "${CURRENT_PACKAGES_DIR}/include/openMVG_dependencies/nonFree/sift/vl")
+
+if(OpenMVG_BUILD_SHARED)
+    if (NOT VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+        # release
+        file(GLOB DLL_FILES  "${CURRENT_PACKAGES_DIR}/lib/*.dll")
+        file(COPY "${DLL_FILES}" DESTINATION "${CURRENT_PACKAGES_DIR}/bin")
+        file(REMOVE_RECURSE "${DLL_FILES}")
+    endif()
+    if (NOT VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+        # debug
+        file(GLOB DLL_FILES  "${CURRENT_PACKAGES_DIR}/debug/lib/*.dll")
+        file(COPY "${DLL_FILES}" DESTINATION "${CURRENT_PACKAGES_DIR}/debug/bin")
+        file(REMOVE_RECURSE "${DLL_FILES}")
+    endif()
+endif()
+vcpkg_copy_pdbs()
+
+if("software" IN_LIST FEATURES)
+    if(VCPKG_TARGET_IS_OSX)
+        vcpkg_copy_tools(TOOL_NAMES
+            openMVG_main_AlternativeVO.app
+            ui_openMVG_MatchesViewer.app
+        )
+        file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin/openMVG_main_AlternativeVO.app")
+        file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin/ui_openMVG_MatchesViewer.app")
+        file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/bin/openMVG_main_AlternativeVO.app")
+        file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/bin/ui_openMVG_MatchesViewer.app")
+    else()
+        vcpkg_copy_tools(AUTO_CLEAN TOOL_NAMES
+            openMVG_main_AlternativeVO
+            ui_openMVG_MatchesViewer
+        )
+    endif()
+    vcpkg_copy_tools(AUTO_CLEAN TOOL_NAMES
+        openMVG_main_ChangeLocalOrigin
+        openMVG_main_ColHarmonize
+        openMVG_main_ComputeClusters
+        openMVG_main_ComputeFeatures
+        openMVG_main_ComputeMatches
+        openMVG_main_ComputeSfM_DataColor
+        openMVG_main_ComputeStructureFromKnownPoses
+        openMVG_main_ConvertList
+        openMVG_main_ConvertSfM_DataFormat
+        openMVG_main_evalQuality
+        openMVG_main_ExportCameraFrustums
+        openMVG_main_exportKeypoints
+        openMVG_main_exportMatches
+        openMVG_main_exportTracks
+        openMVG_main_ExportUndistortedImages
+        openMVG_main_FrustumFiltering
+        openMVG_main_geodesy_registration_to_gps_position
+        openMVG_main_ListMatchingPairs
+        openMVG_main_MatchesToTracks
+        openMVG_main_openMVG2Agisoft
+        openMVG_main_openMVG2CMPMVS
+        openMVG_main_openMVG2Colmap
+        openMVG_main_openMVG2MESHLAB
+        openMVG_main_openMVG2MVE2
+        openMVG_main_openMVG2MVSTEXTURING
+        openMVG_main_openMVG2NVM
+        openMVG_main_openMVG2openMVS
+        openMVG_main_openMVG2PMVS
+        openMVG_main_openMVG2WebGL
+        openMVG_main_openMVGSpherical2Cubic
+        openMVG_main_PointsFiltering
+        openMVG_main_SfMInit_ImageListing
+        openMVG_main_SfMInit_ImageListingFromKnownPoses
+        openMVG_main_SfM_Localization
+        openMVG_main_SplitMatchFileIntoMatchFiles
+        ui_openMVG_control_points_registration
+        openMVG_main_GeometricFilter
+        openMVG_main_PairGenerator
+        openMVG_main_SfM
+    )
+    if("opencv" IN_LIST FEATURES)
+        vcpkg_copy_tools(AUTO_CLEAN TOOL_NAMES
+            openMVG_main_ComputeFeatures_OpenCV)
+    endif()
+
+    file(COPY "${SOURCE_PATH}/src/openMVG/exif/sensor_width_database/sensor_width_camera_database.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/tools/${PORT}")
+    set(OPENMVG_SOFTWARE_SFM_BUILD_DIR "${CURRENT_INSTALLED_DIR}/tools/${PORT}")
+    set(OPENMVG_CAMERA_SENSOR_WIDTH_DIRECTORY "${CURRENT_INSTALLED_DIR}/tools/${PORT}")
+    configure_file("${SOURCE_PATH}/src/software/SfM/tutorial_demo.py.in" "${CURRENT_PACKAGES_DIR}/tools/${PORT}/tutorial_demo.py" @ONLY)
+    configure_file("${SOURCE_PATH}/src/software/SfM/SfM_GlobalPipeline.py.in" "${CURRENT_PACKAGES_DIR}/tools/${PORT}/SfM_GlobalPipeline.py" @ONLY)
+    configure_file("${SOURCE_PATH}/src/software/SfM/SfM_SequentialPipeline.py.in" "${CURRENT_PACKAGES_DIR}/tools/${PORT}/SfM_SequentialPipeline.py" @ONLY)
+endif()
+
+# Handle copyright
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,59 @@
+{
+  "name": "openmvg",
+  "version": "2.0",
+  "port-version": 3,
+  "description": "open Multiple View Geometry library. Basis for 3D computer vision and Structure from Motion.",
+  "license": "MPL-2.0-no-copyleft-exception",
+  "dependencies": [
+    "cereal",
+    {
+      "name": "ceres",
+      "features": [
+        "cxsparse",
+        "suitesparse"
+      ]
+    },
+    "clp",
+    "coinutils",
+    "eigen3",
+    "flann",
+    "libjpeg-turbo",
+    "liblemon",
+    "libpng",
+    "osi",
+    "tiff",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    },
+    "vlfeat",
+    "zlib"
+  ],
+  "features": {
+    "opencv": {
+      "description": "opencv support for openmvg",
+      "dependencies": [
+        {
+          "name": "opencv",
+          "features": [
+            "contrib"
+          ]
+        }
+      ]
+    },
+    "openmp": {
+      "description": "openmp support for openmvg"
+    },
+    "software": {
+      "description": "build openMVG tools",
+      "dependencies": [
+        "qt5-base",
+        "qt5-svg"
+      ]
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openmvs/fix-build-boost-1_77_0.patch

@@ -0,0 +1,19 @@
+ libs/Common/Common.cpp | 5 +++++
+ 1 file changed, 5 insertions(+)
+
+diff --git a/libs/Common/Common.cpp b/libs/Common/Common.cpp
+index 052951d..8dc404e 100644
+--- a/libs/Common/Common.cpp
++++ b/libs/Common/Common.cpp
+@@ -31,6 +31,11 @@ namespace boost {
+ 		ASSERT("boost exception thrown" == NULL);
+ 		exit(EXIT_FAILURE);
+ 	}
++	void throw_exception(std::exception const & e, boost::source_location const &) {
++		VERBOSE("exception thrown: %s", e.what());
++		ASSERT("boost exception thrown" == NULL);
++		exit(EXIT_FAILURE);
++	}
+ } // namespace boost
+ #endif
+ #endif

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

@@ -0,0 +1,449 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 7966ed5..f34b5b4 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -63,9 +63,10 @@ INCLUDE_DIRECTORIES("${OpenMVS_SOURCE_DIR}")
+ SET(OpenMVS_EXTRA_LIBS "")
+ if(OpenMVS_USE_OPENMP)
+ 	SET(OpenMP_LIBS "")
+-	FIND_PACKAGE(OpenMP)
+-	if(OPENMP_FOUND)
+-		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
++	FIND_PACKAGE(OpenMP REQUIRED)
++	if(OpenMP_FOUND)
++	  link_libraries(OpenMP::OpenMP_CXX)
++	  link_libraries(OpenMP::OpenMP_C)
+ 		ADD_DEFINITIONS(-D_USE_OPENMP)
+ 		SET(_USE_OPENMP TRUE)
+ 		#cmake only check for separate OpenMP library on AppleClang 7+
+@@ -83,7 +84,7 @@ if(OpenMVS_USE_OPENGL)
+ 	if(POLICY CMP0072)
+ 		cmake_policy(SET CMP0072 NEW)
+ 	endif()
+-	FIND_PACKAGE(OpenGL)
++	FIND_PACKAGE(OpenGL REQUIRED)
+ 	if(OPENGL_FOUND)
+ 		INCLUDE_DIRECTORIES(${OPENGL_INCLUDE_DIR})
+ 		ADD_DEFINITIONS(${OpenGL_DEFINITIONS} -D_USE_OPENGL)
+@@ -94,7 +95,7 @@ if(OpenMVS_USE_OPENGL)
+ endif()
+ 
+ if(OpenMVS_USE_CUDA)
+-	FIND_PACKAGE(CUDA)
++	FIND_PACKAGE(CUDA REQUIRED)
+ 	if(CUDA_FOUND)
+ 		INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
+ 		ADD_DEFINITIONS(-D_USE_CUDA)
+@@ -108,7 +109,7 @@ else()
+ endif()
+ 
+ if(OpenMVS_USE_BREAKPAD)
+-	FIND_PACKAGE(BREAKPAD)
++	FIND_PACKAGE(BREAKPAD REQUIRED)
+ 	if(BREAKPAD_FOUND)
+ 		INCLUDE_DIRECTORIES(${BREAKPAD_INCLUDE_DIRS})
+ 		ADD_DEFINITIONS(${BREAKPAD_DEFINITIONS} -D_USE_BREAKPAD)
+@@ -119,7 +120,7 @@ if(OpenMVS_USE_BREAKPAD)
+ 	endif()
+ endif()
+ 
+-FIND_PACKAGE(Boost ${SYSTEM_PACKAGE_REQUIRED} COMPONENTS iostreams program_options system serialization)
++FIND_PACKAGE(Boost COMPONENTS iostreams program_options system serialization REQUIRED)
+ if(Boost_FOUND)
+ 	INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
+ 	ADD_DEFINITIONS(${Boost_DEFINITIONS} -D_USE_BOOST)
+@@ -127,14 +128,14 @@ if(Boost_FOUND)
+ 	SET(_USE_BOOST TRUE)
+ endif()
+ 
+-FIND_PACKAGE(Eigen ${SYSTEM_PACKAGE_REQUIRED})
+-if(EIGEN_FOUND)
+-	INCLUDE_DIRECTORIES(${EIGEN_INCLUDE_DIRS})
+-	ADD_DEFINITIONS(${EIGEN_DEFINITIONS} -D_USE_EIGEN)
++FIND_PACKAGE(Eigen3 REQUIRED)
++if(EIGEN3_FOUND)
++	INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
++	ADD_DEFINITIONS(${EIGEN3_DEFINITIONS} -D_USE_EIGEN)
+ 	SET(_USE_EIGEN TRUE)
+ endif()
+ 
+-FIND_PACKAGE(OpenCV ${SYSTEM_PACKAGE_REQUIRED})
++FIND_PACKAGE(OpenCV REQUIRED)
+ if(OpenCV_FOUND)
+ 	INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS})
+ 	ADD_DEFINITIONS(${OpenCV_DEFINITIONS})
+@@ -170,7 +171,9 @@ ADD_DEFINITIONS(${OpenMVS_DEFINITIONS})
+ 
+ # Add modules
+ ADD_SUBDIRECTORY(libs)
++if(OpenMVS_BUILD_TOOLS)
+ ADD_SUBDIRECTORY(apps)
++endif()
+ ADD_SUBDIRECTORY(docs)
+ 
+ if(OpenMVS_USE_CERES)
+@@ -188,7 +191,7 @@ export(TARGETS Common IO Math MVS FILE "${PROJECT_BINARY_DIR}/OpenMVSTargets.cma
+ # Export the package for use from the build-tree
+ # (this registers the build-tree with a global CMake-registry)
+ export(PACKAGE OpenMVS)
+- 
++
+ # Create the OpenMVSConfig.cmake and OpenMVSConfigVersion files
+ file(RELATIVE_PATH REL_INCLUDE_DIR "${INSTALL_CMAKE_DIR}" "${INSTALL_INCLUDE_DIR}")
+ # ... for the build tree
+@@ -199,7 +202,7 @@ set(CONF_INCLUDE_DIRS "${INSTALL_CMAKE_DIR}/${REL_INCLUDE_DIR}")
+ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/build/OpenMVSConfig.cmake.in" "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/OpenMVSConfig.cmake" @ONLY)
+ # ... for both
+ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/build/OpenMVSConfigVersion.cmake.in" "${PROJECT_BINARY_DIR}/OpenMVSConfigVersion.cmake" @ONLY)
+- 
++
+ # Install the OpenMVSConfig.cmake and OpenMVSConfigVersion.cmake
+ install(FILES
+ 	"${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/OpenMVSConfig.cmake"
+diff --git a/MvgMvsPipeline.py b/MvgMvsPipeline.py.in
+similarity index 97%
+rename from MvgMvsPipeline.py
+rename to MvgMvsPipeline.py.in
+index f4914bf..23d03e6 100644
+--- a/MvgMvsPipeline.py
++++ b/MvgMvsPipeline.py.in
+@@ -91,12 +91,12 @@ def find(afile):
+ 
+ 
+ # Try to find openMVG and openMVS binaries in PATH
+-OPENMVG_BIN = whereis("openMVG_main_SfMInit_ImageListing")
+-OPENMVS_BIN = whereis("ReconstructMesh")
++OPENMVG_BIN = "@OPENMVG_TOOLS_PATH@"
++OPENMVS_BIN = "@OPENMVS_TOOLS_PATH@"
+ 
+ # Try to find openMVG camera sensor database
+-CAMERA_SENSOR_DB_FILE = "sensor_width_camera_database.txt"
+-CAMERA_SENSOR_DB_DIRECTORY = find(CAMERA_SENSOR_DB_FILE)
++CAMERA_SENSOR_DB_FILE = "@SENSOR_WIDTH_CAMERA_DATABASE_TXT_PATH@"
++CAMERA_SENSOR_DB_DIRECTORY = "@OPENMVG_TOOLS_PATH@"
+ 
+ # Ask user for openMVG and openMVS directories if not found
+ if not OPENMVG_BIN:
+@@ -175,10 +175,10 @@ class StepsStore:
+              ["-i", "%input_dir%", "-o", "%matches_dir%", "-d", "%camera_file_params%"]],
+             ["Compute features",             # 1
+              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeFeatures"),
+-             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-m", "SIFT", "-n", "4"]],
++             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-m", "SIFT"]],
+             ["Compute matches",              # 2
+              os.path.join(OPENMVG_BIN, "openMVG_main_ComputeMatches"),
+-             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-n", "HNSWL2", "-r", ".8"]],
++             ["-i", "%matches_dir%/sfm_data.json", "-o", "%matches_dir%", "-n", "AUTO", "-r", ".8"]],
+             ["Incremental reconstruction",   # 3
+              os.path.join(OPENMVG_BIN, "openMVG_main_IncrementalSfM"),
+              ["-i", "%matches_dir%/sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%"]],
+diff --git a/apps/Viewer/CMakeLists.txt b/apps/Viewer/CMakeLists.txt
+index c519040..934cd50 100644
+--- a/apps/Viewer/CMakeLists.txt
++++ b/apps/Viewer/CMakeLists.txt
+@@ -16,18 +16,6 @@ else()
+ 	MESSAGE("-- Can't find GLEW. Continuing without it.")
+ 	RETURN()
+ endif()
+-if(CMAKE_COMPILER_IS_GNUCXX)
+-	FIND_PACKAGE(PkgConfig QUIET)
+-	pkg_search_module(GLFW QUIET glfw3)
+-	if(GLFW_FOUND)
+-		INCLUDE_DIRECTORIES(${GLFW_INCLUDE_DIRS})
+-		ADD_DEFINITIONS(${GLFW_DEFINITIONS})
+-		MESSAGE(STATUS "GLFW3 ${GLFW_VERSION} found (include: ${GLFW_INCLUDE_DIRS})")
+-	else()
+-		MESSAGE("-- Can't find GLFW3. Continuing without it.")
+-		RETURN()
+-	endif()
+-else()
+ 	FIND_PACKAGE(glfw3 QUIET)
+ 	if(glfw3_FOUND)
+ 		INCLUDE_DIRECTORIES(${glfw3_INCLUDE_DIRS})
+@@ -37,7 +25,6 @@ else()
+ 		MESSAGE("-- Can't find GLFW3. Continuing without it.")
+ 		RETURN()
+ 	endif()
+-endif()
+ 
+ # List sources files
+ FILE(GLOB PCH_C "Common.cpp")
+diff --git a/build/OpenMVSConfig.cmake.in b/build/OpenMVSConfig.cmake.in
+index 96b8fe2..fa6d4a6 100644
+--- a/build/OpenMVSConfig.cmake.in
++++ b/build/OpenMVSConfig.cmake.in
+@@ -3,16 +3,71 @@
+ #  OpenMVS_INCLUDE_DIRS - include directories for OpenMVS
+ #  OpenMVS_LIBRARIES    - libraries to link against
+ #  OpenMVS_BINARIES     - the binaries
+- 
++
+ # Compute paths
+ get_filename_component(OpenMVS_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+ set(OpenMVS_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
+- 
++list(APPEND CMAKE_MODULE_PATH "${OpenMVS_CMAKE_DIR}")
++
++if (MSVC)
++	set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} /GL")
++	set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /GL")
++	set(CMAKE_EXE_LINKER_FLAGS_RELEASE "${CMAKE_EXE_LINKER_FLAGS_RELEASE} /LTCG")
++	set(CMAKE_MODULE_LINKER_FLAGS_RELEASE "${CMAKE_MODULE_LINKER_FLAGS_RELEASE} /LTCG")
++endif()
++
++set(CMAKE_CXX_STANDARD 14)
++set(CMAKE_CXX_STANDARD_REQUIRED ON)
++
++include(CMakeFindDependencyMacro)
++
++if(@OpenMVS_USE_OPENMP@)
++	find_dependency(OpenMP)
++	add_definitions(-D_USE_OPENMP)
++endif()
++
++if(@OpenMVS_USE_OPENGL@)
++	find_dependency(OpenGL)
++	add_definitions(${OpenGL_DEFINITIONS} -D_USE_OPENGL)
++endif()
++
++if(@OpenMVS_USE_CUDA@)
++	find_dependency(CUDA)
++	add_definitions(-D_USE_CUDA)
++	include_directories(${CUDA_INCLUDE_DIRS})
++endif()
++
++if(@OpenMVS_USE_BREAKPAD@)
++	find_dependency(BREAKPAD)
++	add_definitions(${BREAKPAD_DEFINITIONS} -D_USE_BREAKPAD)
++endif()
++
++find_dependency(Boost)
++add_definitions(${Boost_DEFINITIONS} -D_USE_BOOST)
++include_directories(${Boost_INCLUDE_DIRS})
++find_dependency(Eigen3)
++add_definitions(${EIGEN3_DEFINITIONS} -D_USE_EIGEN)
++include_directories(${EIGEN3_INCLUDE_DIRS})
++find_dependency(OpenCV)
++add_definitions(${OpenCV_DEFINITIONS})
++find_dependency(CGAL)
++add_definitions(${CGAL_DEFINITIONS})
++
++find_dependency(VCG REQUIRED)
++add_definitions(${VCG_DEFINITIONS})
++
++if(@OpenMVS_USE_CERES@)
++	find_dependency(Ceres)
++	add_definitions(${CERES_DEFINITIONS})
++endif()
++
++add_definitions(@OpenMVS_DEFINITIONS@)
++
+ # Our library dependencies (contains definitions for IMPORTED targets)
+ if(NOT TARGET MVS AND NOT OpenMVS_BINARY_DIR)
+ 	include("${OpenMVS_CMAKE_DIR}/OpenMVSTargets.cmake")
+ endif()
+- 
++
+ # These are IMPORTED targets created by OpenMVSTargets.cmake
+ set(OpenMVS_LIBRARIES MVS)
+ set(OpenMVS_BINARIES InterfaceVisualSFM DensifyPointCloud ReconstructMesh RefineMesh TextureMesh)
+diff --git a/build/Utils.cmake b/build/Utils.cmake
+index f41c9d8..31cd292 100644
+--- a/build/Utils.cmake
++++ b/build/Utils.cmake
+@@ -160,7 +160,7 @@ macro(GetOperatingSystemArchitectureBitness)
+ 	elseif(CMAKE_SYSTEM_PROCESSOR MATCHES i686.*|i386.*|x86.*)
+ 		set(X86 1)
+ 	endif()
+-	
++
+ 	if(NOT ${MY_VAR_PREFIX}_PACKAGE_REQUIRED)
+ 		set(${MY_VAR_PREFIX}_PACKAGE_REQUIRED "REQUIRED")
+ 	endif()
+@@ -173,30 +173,6 @@ macro(ComposePackageLibSuffix)
+ 	set(PACKAGE_LIB_SUFFIX "")
+ 	set(PACKAGE_LIB_SUFFIX_DBG "")
+ 	set(PACKAGE_LIB_SUFFIX_REL "")
+-	if(MSVC)
+-		if("${MSVC_VERSION}" STREQUAL "1921")
+-			set(PACKAGE_LIB_SUFFIX "/vc16")
+-		elseif("${MSVC_VERSION}" STREQUAL "1916")
+-			set(PACKAGE_LIB_SUFFIX "/vc15")
+-		elseif("${MSVC_VERSION}" STREQUAL "1900")
+-			set(PACKAGE_LIB_SUFFIX "/vc14")
+-		elseif("${MSVC_VERSION}" STREQUAL "1800")
+-			set(PACKAGE_LIB_SUFFIX "/vc12")
+-		elseif("${MSVC_VERSION}" STREQUAL "1700")
+-			set(PACKAGE_LIB_SUFFIX "/vc11")
+-		elseif("${MSVC_VERSION}" STREQUAL "1600")
+-			set(PACKAGE_LIB_SUFFIX "/vc10")
+-		elseif("${MSVC_VERSION}" STREQUAL "1500")
+-			set(PACKAGE_LIB_SUFFIX "/vc9")
+-		endif()
+-		if("${SYSTEM_BITNESS}" STREQUAL "64")
+-			set(PACKAGE_LIB_SUFFIX "${PACKAGE_LIB_SUFFIX}/x64")
+-		else()
+-			set(PACKAGE_LIB_SUFFIX "${PACKAGE_LIB_SUFFIX}/x86")
+-		endif()
+-		set(PACKAGE_LIB_SUFFIX_DBG "${PACKAGE_LIB_SUFFIX}/Debug")
+-		set(PACKAGE_LIB_SUFFIX_REL "${PACKAGE_LIB_SUFFIX}/Release")
+-	endif()
+ endmacro()
+ 
+ 
+@@ -511,7 +487,7 @@ macro(optimize_default_compiler_settings)
+ 	  endif()
+ 	  add_extra_compiler_option(-fdiagnostics-show-option)
+ 	  add_extra_compiler_option(-ftemplate-backtrace-limit=0)
+-	  
++
+ 	  # The -Wno-long-long is required in 64bit systems when including sytem headers.
+ 	  if(X86_64)
+ 		add_extra_compiler_option(-Wno-long-long)
+@@ -817,7 +793,7 @@ macro(ConfigCompilerAndLinker)
+   else()
+     set(cxx_rtti_support "${cxx_no_rtti_flags}")
+   endif()
+-  
++
+   SET(cxx_default "${cxx_exception_support} ${cxx_rtti_support}" CACHE PATH "Common compile CXX flags")
+   SET(c_default "${CMAKE_C_FLAGS} ${cxx_base_flags}" CACHE PATH "Common compile C flags")
+ endmacro()
+@@ -825,16 +801,12 @@ endmacro()
+ # Initialize variables needed for a library type project.
+ macro(ConfigLibrary)
+ 	# Offer the user the choice of overriding the installation directories
+-	set(INSTALL_LIB_DIR "lib/${PROJECT_NAME}" CACHE PATH "Installation directory for libraries")
+-	set(INSTALL_BIN_DIR "bin/${PROJECT_NAME}" CACHE PATH "Installation directory for executables")
+-	set(INSTALL_INCLUDE_DIR "include/${PROJECT_NAME}" CACHE PATH "Installation directory for header files")
+-	if(WIN32 AND NOT CYGWIN)
+-		set(DEF_INSTALL_CMAKE_DIR "CMake")
+-	else()
+-		set(DEF_INSTALL_CMAKE_DIR "lib/CMake/${PROJECT_NAME}")
+-	endif()
++	set(INSTALL_LIB_DIR "lib" CACHE PATH "Installation directory for libraries")
++	set(INSTALL_BIN_DIR "bin" CACHE PATH "Installation directory for executables")
++	set(INSTALL_INCLUDE_DIR "include/openmvs" CACHE PATH "Installation directory for header files")
++	set(DEF_INSTALL_CMAKE_DIR "share/openmvs")
+ 	set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH "Installation directory for CMake files")
+-	 
++
+ 	# Make relative paths absolute (needed later on)
+ 	foreach(p LIB BIN INCLUDE CMAKE)
+ 		set(var INSTALL_${p}_DIR)
+diff --git a/libs/Common/CMakeLists.txt b/libs/Common/CMakeLists.txt
+index 2e6c1a4..6e1fa95 100644
+--- a/libs/Common/CMakeLists.txt
++++ b/libs/Common/CMakeLists.txt
+@@ -18,6 +18,7 @@ set_target_pch(Common Common.h)
+ 
+ # Link its dependencies
+ TARGET_LINK_LIBRARIES(Common ${Boost_LIBRARIES} ${OpenCV_LIBS})
++TARGET_INCLUDE_DIRECTORIES(Common PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}> $<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR}>)
+ 
+ # Install
+ SET_TARGET_PROPERTIES(Common PROPERTIES
+diff --git a/libs/Common/Strings.h b/libs/Common/MVSStrings.h
+similarity index 100%
+rename from libs/Common/Strings.h
+rename to libs/Common/MVSStrings.h
+diff --git a/libs/Common/Types.h b/libs/Common/Types.h
+index bcac65c..9abeefb 100644
+--- a/libs/Common/Types.h
++++ b/libs/Common/Types.h
+@@ -378,7 +378,7 @@ typedef TAliasCast<double,int32_t> CastD2I;
+ 
+ // I N C L U D E S /////////////////////////////////////////////////
+ 
+-#include "Strings.h"
++#include "MVSStrings.h"
+ #include "AutoPtr.h"
+ #include "List.h"
+ #include "Thread.h"
+@@ -2558,7 +2558,7 @@ public:
+ 
+ 	/// creates an SO3 as a rotation that takes Vector a into the direction of Vector b
+ 	/// with the rotation axis along a ^ b. If |a ^ b| == 0, it creates the identity rotation.
+-	/// An assertion will fail if Vector a and Vector b are in exactly opposite directions. 
++	/// An assertion will fail if Vector a and Vector b are in exactly opposite directions.
+ 	/// @param a source Vector
+ 	/// @param b target Vector
+ 	SO3(const Vec3& a, const Vec3& b) {
+@@ -2604,7 +2604,7 @@ public:
+ 		mat.row(2) -= mat.row(1) * d12;
+ 		mat.row(2).normalize();
+ 		// check for positive determinant <=> right handed coordinate system of row vectors
+-		ASSERT(mat.row(0).cross(mat.row(1)).dot(mat.row(2)) > 0); 
++		ASSERT(mat.row(0).cross(mat.row(1)).dot(mat.row(2)) > 0);
+ 	}
+ 
+ 	/// Exponentiate a vector in the Lie algebra to generate a new SO3.
+diff --git a/libs/IO/CMakeLists.txt b/libs/IO/CMakeLists.txt
+index a354376..4fd478c 100644
+--- a/libs/IO/CMakeLists.txt
++++ b/libs/IO/CMakeLists.txt
+@@ -43,7 +43,8 @@ cxx_library_with_type_no_pch(IO "Libs" "STATIC" "${cxx_default}"
+ set_target_pch(IO Common.h)
+ 
+ # Link its dependencies
+-TARGET_LINK_LIBRARIES(IO Common ${PNG_LIBRARIES} ${JPEG_LIBRARIES} ${TIFF_LIBRARIES} ${EXIV2_LIBS})
++TARGET_LINK_LIBRARIES(IO Common ${TIFF_LIBRARIES} ${PNG_LIBRARIES} ${JPEG_LIBRARIES} ${EXIV2_LIBS})
++TARGET_INCLUDE_DIRECTORIES(IO PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}> $<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR}>)
+ 
+ # Install
+ SET_TARGET_PROPERTIES(IO PROPERTIES
+diff --git a/libs/MVS/CMakeLists.txt b/libs/MVS/CMakeLists.txt
+index 14be620..867cfd5 100644
+--- a/libs/MVS/CMakeLists.txt
++++ b/libs/MVS/CMakeLists.txt
+@@ -1,12 +1,12 @@
+ # Find required packages
+-FIND_PACKAGE(CGAL ${SYSTEM_PACKAGE_REQUIRED})
++FIND_PACKAGE(CGAL REQUIRED)
+ if(CGAL_FOUND)
+ 	include_directories(${CGAL_INCLUDE_DIRS})
+ 	add_definitions(${CGAL_DEFINITIONS})
+ 	link_directories(${CGAL_LIBRARY_DIRS})
+ endif()
+ 
+-FIND_PACKAGE(VCG ${SYSTEM_PACKAGE_REQUIRED})
++FIND_PACKAGE(VCG REQUIRED)
+ if(VCG_FOUND)
+ 	include_directories(${VCG_INCLUDE_DIRS})
+ 	add_definitions(${VCG_DEFINITIONS})
+@@ -14,12 +14,10 @@ endif()
+ 
+ set(CERES_LIBS "")
+ if(OpenMVS_USE_CERES)
+-	FIND_PACKAGE(CERES)
++	FIND_PACKAGE(Ceres REQUIRED)
+ 	if(CERES_FOUND)
+ 		include_directories(${CERES_INCLUDE_DIRS})
+ 		add_definitions(${CERES_DEFINITIONS})
+-	else()
+-		set(OpenMVS_USE_CERES OFF)
+ 	endif()
+ endif()
+ 
+@@ -42,7 +40,8 @@ cxx_library_with_type_no_pch(MVS "Libs" "" "${cxx_default}"
+ set_target_pch(MVS Common.h)
+ 
+ # Link its dependencies
+-TARGET_LINK_LIBRARIES(MVS PRIVATE Common Math IO ${CERES_LIBS} ${CGAL_LIBS} ${CUDA_CUDA_LIBRARY})
++TARGET_LINK_LIBRARIES(MVS PRIVATE Common Math IO ${CERES_LIBS} CGAL::CGAL	${CUDA_CUDA_LIBRARY})
++TARGET_INCLUDE_DIRECTORIES(MVS PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}> $<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR}>)
+ 
+ # Install
+ SET_TARGET_PROPERTIES(MVS PROPERTIES
+diff --git a/libs/Math/CMakeLists.txt b/libs/Math/CMakeLists.txt
+index d592bd0..f1fe4c6 100644
+--- a/libs/Math/CMakeLists.txt
++++ b/libs/Math/CMakeLists.txt
+@@ -35,6 +35,7 @@ set_target_pch(Math Common.h)
+ 
+ # Link its dependencies
+ TARGET_LINK_LIBRARIES(Math Common)
++TARGET_INCLUDE_DIRECTORIES(Math PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}> $<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR}>)
+ 
+ # Install
+ INSTALL(FILES ${LIBRARY_FILES_H} DESTINATION "${INSTALL_INCLUDE_DIR}/Math" COMPONENT dev)

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

@@ -0,0 +1,72 @@
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO cdcseacave/openMVS
+    REF v1.1.1
+    SHA512 eeb15d0756f12136a1e7938a0eed97024d564eef3355f3bb6abf6c681e38919011e1a133d89ca360f463e7fed5feb8e0138a0fe9be4c25b6a13ba4b042aef3eb
+    HEAD_REF master
+    PATCHES
+        fix-build.patch
+        fix-build-boost-1_77_0.patch
+)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        cuda   OpenMVS_USE_CUDA
+        openmp OpenMVS_USE_OPENMP
+)
+
+file(REMOVE "${SOURCE_PATH}/build/Modules/FindCERES.cmake")
+file(REMOVE "${SOURCE_PATH}/build/Modules/FindCGAL.cmake")
+file(REMOVE "${SOURCE_PATH}/build/Modules/FindEIGEN.cmake")
+
+vcpkg_cmake_configure(
+    SOURCE_PATH ${SOURCE_PATH}
+    OPTIONS ${FEATURE_OPTIONS}
+        -DOpenMVS_USE_NONFREE=ON
+        -DOpenMVS_USE_CERES=OFF
+        -DOpenMVS_USE_FAST_FLOAT2INT=ON
+        -DOpenMVS_USE_FAST_INVSQRT=OFF
+        -DOpenMVS_USE_FAST_CBRT=ON
+        -DOpenMVS_USE_SSE=ON
+        -DOpenMVS_USE_OPENGL=ON
+        -DOpenMVS_USE_BREAKPAD=OFF
+    OPTIONS_RELEASE
+        -DOpenMVS_BUILD_TOOLS=ON
+    OPTIONS_DEBUG
+        -DOpenMVS_BUILD_TOOLS=OFF
+)
+
+vcpkg_cmake_install()
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+
+vcpkg_fixup_cmake_targets()
+file(READ ${CURRENT_PACKAGES_DIR}/share/openmvs/OpenMVSTargets-release.cmake TARGETS_CMAKE)
+string(REPLACE "bin/InterfaceCOLMAP" "tools/openmvs/InterfaceCOLMAP" TARGETS_CMAKE "${TARGETS_CMAKE}")
+string(REPLACE "bin/InterfaceVisualSFM" "tools/openmvs/InterfaceVisualSFM" TARGETS_CMAKE "${TARGETS_CMAKE}")
+string(REPLACE "bin/DensifyPointCloud" "tools/openmvs/DensifyPointCloud" TARGETS_CMAKE "${TARGETS_CMAKE}")
+string(REPLACE "bin/ReconstructMesh" "tools/openmvs/ReconstructMesh" TARGETS_CMAKE "${TARGETS_CMAKE}")
+string(REPLACE "bin/RefineMesh" "tools/openmvs/RefineMesh" TARGETS_CMAKE "${TARGETS_CMAKE}")
+string(REPLACE "bin/TextureMesh" "tools/openmvs/TextureMesh" TARGETS_CMAKE "${TARGETS_CMAKE}")
+string(REPLACE "bin/Viewer" "tools/openmvs/Viewer" TARGETS_CMAKE "${TARGETS_CMAKE}")
+file(WRITE ${CURRENT_PACKAGES_DIR}/share/openmvs/OpenMVSTargets-release.cmake "${TARGETS_CMAKE}")
+
+vcpkg_copy_tools(AUTO_CLEAN TOOL_NAMES
+    DensifyPointCloud
+    InterfaceCOLMAP
+    InterfaceVisualSFM
+    ReconstructMesh
+    RefineMesh
+    TextureMesh
+    Viewer
+)
+
+set(OPENMVG_TOOLS_PATH "${CURRENT_INSTALLED_DIR}/tools/openmvg")
+set(OPENMVS_TOOLS_PATH "${CURRENT_INSTALLED_DIR}/tools/${PORT}")
+set(SENSOR_WIDTH_CAMERA_DATABASE_TXT_PATH "${OPENMVG_TOOLS_PATH}/sensor_width_camera_database.txt")
+configure_file("${SOURCE_PATH}/MvgMvsPipeline.py.in" "${CURRENT_PACKAGES_DIR}/tools/${PORT}/MvgMvsPipeline.py" @ONLY)
+file(INSTALL "${SOURCE_PATH}/build/Modules/FindVCG.cmake" DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT})
+
+file(INSTALL ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

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

@@ -0,0 +1,48 @@
+{
+  "name": "openmvs",
+  "version": "1.1.1",
+  "port-version": 2,
+  "description": "OpenMVS: open Multi-View Stereo reconstruction library",
+  "homepage": "https://cdcseacave.github.io/openMVS",
+  "dependencies": [
+    "boost-iostreams",
+    "boost-program-options",
+    "boost-serialization",
+    "boost-system",
+    "boost-throw-exception",
+    {
+      "name": "cgal",
+      "default-features": false
+    },
+    "eigen3",
+    "glew",
+    "glfw3",
+    "libpng",
+    "opencv",
+    {
+      "name": "openmvg",
+      "features": [
+        "software"
+      ],
+      "platform": "!(windows & static)"
+    },
+    "tiff",
+    "vcglib",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    "zlib"
+  ],
+  "features": {
+    "cuda": {
+      "description": "CUDA support for openmvs",
+      "dependencies": [
+        "cuda"
+      ]
+    },
+    "openmp": {
+      "description": "OpenMP support for openmvs"
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openni2/inherit_from_parent_or_project_defaults.patch

@@ -0,0 +1,41 @@
+diff --git a/Source/Drivers/Kinect/Kinect.vcxproj b/Source/Drivers/Kinect/Kinect.vcxproj
+index 7f54d04..08a49fe 100644
+--- a/Source/Drivers/Kinect/Kinect.vcxproj
++++ b/Source/Drivers/Kinect/Kinect.vcxproj
+@@ -72,28 +72,29 @@
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+     <OutDir>$(SolutionDir)Bin\$(Platform)-$(Configuration)\OpenNI2\Drivers\</OutDir>
+     <IntDir>$(SolutionDir)Bin\Intermediate\$(Platform)-$(Configuration)\$(ProjectName)\</IntDir>
+-    <IncludePath>$(VCInstallDir)include;$(VCInstallDir)atlmfc\include;$(WindowsSdkDir)include;$(FrameworkSDKDir)\include</IncludePath>
+-    <LibraryPath>$(VCInstallDir)lib;$(VCInstallDir)atlmfc\lib;$(WindowsSdkDir)lib;$(FrameworkSDKDir)\lib;</LibraryPath>
++    <IncludePath>$(VCInstallDir)include;$(VCInstallDir)atlmfc\include;$(WindowsSdkDir)include;$(FrameworkSDKDir)\include;$(IncludePath)</IncludePath>
++    <LibraryPath>$(VCInstallDir)lib;$(VCInstallDir)atlmfc\lib;$(WindowsSdkDir)lib;$(FrameworkSDKDir)\lib;$(LibraryPath)</LibraryPath>
+     <LinkIncremental>true</LinkIncremental>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+     <OutDir>$(SolutionDir)Bin\$(Platform)-$(Configuration)\OpenNI2\Drivers\</OutDir>
+     <IntDir>$(SolutionDir)Bin\Intermediate\$(Platform)-$(Configuration)\$(ProjectName)\</IntDir>
+-    <IncludePath>$(VCInstallDir)include;$(VCInstallDir)atlmfc\include;$(WindowsSdkDir)include;$(FrameworkSDKDir)\include;</IncludePath>
+-    <LibraryPath>$(VCInstallDir)lib\amd64;$(VCInstallDir)atlmfc\lib\amd64;$(WindowsSdkDir)lib\x64;</LibraryPath>
++    <IncludePath>$(VCInstallDir)include;$(VCInstallDir)atlmfc\include;$(WindowsSdkDir)include;$(FrameworkSDKDir)\include;$(IncludePath)</IncludePath>
++    <LibraryPath>$(VCInstallDir)lib\amd64;$(VCInstallDir)atlmfc\lib\amd64;$(WindowsSdkDir)lib\x64;$(LibraryPath)</LibraryPath>
+     <LinkIncremental>true</LinkIncremental>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+     <OutDir>$(SolutionDir)Bin\$(Platform)-$(Configuration)\OpenNI2\Drivers\</OutDir>
+     <IntDir>$(SolutionDir)Bin\Intermediate\$(Platform)-$(Configuration)\$(ProjectName)\</IntDir>
+-    <IncludePath>$(VCInstallDir)include;$(VCInstallDir)atlmfc\include;$(WindowsSdkDir)include;$(FrameworkSDKDir)\include;</IncludePath>
+-    <LibraryPath>$(VCInstallDir)lib;$(VCInstallDir)atlmfc\lib;$(WindowsSdkDir)lib;$(FrameworkSDKDir)\lib;</LibraryPath>
++    <IncludePath>$(VCInstallDir)include;$(VCInstallDir)atlmfc\include;$(WindowsSdkDir)include;$(FrameworkSDKDir)\include;$(IncludePath)</IncludePath>
++    <LibraryPath>$(VCInstallDir)lib;$(VCInstallDir)atlmfc\lib;$(WindowsSdkDir)lib;$(FrameworkSDKDir)\lib;$(LibraryPath)</LibraryPath>
+     <LinkIncremental>false</LinkIncremental>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+     <OutDir>$(SolutionDir)Bin\$(Platform)-$(Configuration)\OpenNI2\Drivers\</OutDir>
+     <IntDir>$(SolutionDir)Bin\Intermediate\$(Platform)-$(Configuration)\$(ProjectName)\</IntDir>
+-    <IncludePath>$(VCInstallDir)include;$(VCInstallDir)atlmfc\include;$(WindowsSdkDir)include;$(FrameworkSDKDir)\include</IncludePath>
++    <IncludePath>$(VCInstallDir)include;$(VCInstallDir)atlmfc\include;$(WindowsSdkDir)include;$(FrameworkSDKDir)\include;$(IncludePath)</IncludePath>
++    <LibraryPath>$(VCInstallDir)lib\amd64;$(VCInstallDir)atlmfc\lib\amd64;$(WindowsSdkDir)lib\x64;$(LibraryPath)</LibraryPath>
+     <LinkIncremental>false</LinkIncremental>
+   </PropertyGroup>
+   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openni2/openni2deploy.ps1

@@ -0,0 +1,18 @@
+# Note: This function signature and behavior is depended upon by applocal.ps1
+
+function deployOpenNI2([string]$targetBinaryDir, [string]$installedDir, [string]$targetBinaryName) {
+    if ($targetBinaryName -like "OpenNI2.dll") {
+        if(Test-Path "$installedDir\bin\OpenNI2\OpenNI.ini") {
+            Write-Verbose "  Deploying OpenNI2 Initialization"
+            deployBinary "$targetBinaryDir" "$installedDir\bin\OpenNI2" "OpenNI.ini"
+        }
+        if(Test-Path "$installedDir\bin\OpenNI2\Drivers") {
+            Write-Verbose "  Deploying OpenNI2 Drivers"
+            New-Item "$targetBinaryDir\OpenNI2\Drivers" -ItemType Directory -ErrorAction SilentlyContinue | Out-Null
+            Get-ChildItem "$installedDir\bin\OpenNI2\Drivers\*.*" -include "*.dll","*.ini" | % {
+                deployBinary "$targetBinaryDir\OpenNI2\Drivers" "$installedDir\bin\OpenNI2\Drivers" $_.Name
+            }
+        }
+    }
+}
+

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openni2/portfile.cmake

@@ -0,0 +1,213 @@
+if (VCPKG_CMAKE_SYSTEM_NAME STREQUAL "WindowsStore")
+    message(FATAL_ERROR "Error: UWP builds are currently not supported.")
+endif()
+
+find_path(COR_H_PATH cor.h)
+if(COR_H_PATH MATCHES "NOTFOUND")
+    message(FATAL_ERROR "Could not find <cor.h>. Ensure the NETFXSDK is installed.")
+endif()
+get_filename_component(NETFXSDK_PATH "${COR_H_PATH}/../.." ABSOLUTE)
+
+vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY ONLY_DYNAMIC_CRT)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO OpenNI/OpenNI2
+    REF 2.2-beta2
+    SHA512 60a3a3043679f3069aea869e92dc5881328ce4393d4140ea8d089027321ac501ae27d283657214e2834d216d0d49bf4f29a4b3d3e43df27a6ed21f889cd0083f
+    HEAD_REF master
+    PATCHES upgrade_projects.patch
+            inherit_from_parent_or_project_defaults.patch
+            replace_environment_variable.patch
+)
+
+file(REMOVE_RECURSE ${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET})
+file(MAKE_DIRECTORY ${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET})
+file(COPY ${SOURCE_PATH} DESTINATION ${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET})
+
+file(TO_NATIVE_PATH ${CURRENT_INSTALLED_DIR} NATIVE_INSTALLED_DIR)
+configure_file("${SOURCE_PATH}/Source/Drivers/Kinect/Kinect.vcxproj" "${SOURCE_PATH}/Source/Drivers/Kinect/Kinect.vcxproj" @ONLY)
+
+# Build OpenNI2
+vcpkg_build_msbuild(
+    PROJECT_PATH "${SOURCE_PATH}/OpenNI.sln"
+    OPTIONS "/p:DotNetSdkRoot=${NETFXSDK_PATH}/"
+)
+
+# Install OpenNI2
+if(VCPKG_TARGET_ARCHITECTURE STREQUAL "x86")
+    set(PLATFORM Win32)
+elseif(VCPKG_TARGET_ARCHITECTURE STREQUAL "x64")
+    set(PLATFORM x64)
+endif()
+
+set(SOURCE_INCLUDE_PATH "${SOURCE_PATH}/Include")
+set(SOURCE_BIN_PATH_RELEASE "${SOURCE_PATH}/Bin/${PLATFORM}-Release")
+set(SOURCE_BIN_PATH_DEBUG "${SOURCE_PATH}/Bin/${PLATFORM}-Debug")
+set(SOURCE_CONFIG_PATH ${SOURCE_PATH}/Config)
+set(SOURCE_THIRDPARTY_PATH "${SOURCE_PATH}/ThirdParty")
+
+file(
+    INSTALL
+        "${SOURCE_INCLUDE_PATH}/Android-Arm/OniPlatformAndroid-Arm.h"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/include/openni2/Android-Arm
+)
+
+file(
+    INSTALL
+        "${SOURCE_INCLUDE_PATH}/Driver/OniDriverAPI.h"
+        "${SOURCE_INCLUDE_PATH}/Driver/OniDriverTypes.h"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/include/openni2/Driver
+)
+
+file(
+    INSTALL
+        "${SOURCE_INCLUDE_PATH}/Linux-Arm/OniPlatformLinux-Arm.h"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/include/openni2/Linux-Arm
+)
+
+file(
+    INSTALL
+        "${SOURCE_INCLUDE_PATH}/Linux-x86/OniPlatformLinux-x86.h"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/include/openni2/Linux-x86
+)
+
+file(
+    INSTALL
+        "${SOURCE_INCLUDE_PATH}/MacOSX/OniPlatformMacOSX.h"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/include/openni2/MacOSX
+)
+
+file(
+    INSTALL
+        "${SOURCE_INCLUDE_PATH}/Win32/OniPlatformWin32.h"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/include/openni2/Win32
+)
+
+file(
+    INSTALL
+        "${SOURCE_INCLUDE_PATH}/OniCAPI.h"
+        "${SOURCE_INCLUDE_PATH}/OniCEnums.h"
+        "${SOURCE_INCLUDE_PATH}/OniCProperties.h"
+        "${SOURCE_INCLUDE_PATH}/OniCTypes.h"
+        "${SOURCE_INCLUDE_PATH}/OniEnums.h"
+        "${SOURCE_INCLUDE_PATH}/OniPlatform.h"
+        "${SOURCE_INCLUDE_PATH}/OniProperties.h"
+        "${SOURCE_INCLUDE_PATH}/OniVersion.h"
+        "${SOURCE_INCLUDE_PATH}/OpenNI.h"
+        "${SOURCE_INCLUDE_PATH}/PrimeSense.h"
+        "${SOURCE_INCLUDE_PATH}/PS1080.h"
+        "${SOURCE_INCLUDE_PATH}/PSLink.h"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/include/openni2
+)
+
+file(
+    INSTALL
+        "${SOURCE_BIN_PATH_RELEASE}/OpenNI2.lib"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/lib
+)
+
+file(
+    INSTALL
+        "${SOURCE_BIN_PATH_DEBUG}/OpenNI2.lib"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/debug/lib
+)
+
+file(
+    INSTALL
+        "${SOURCE_BIN_PATH_RELEASE}/OpenNI2/Drivers/Kinect.dll"
+        "${SOURCE_BIN_PATH_RELEASE}/OpenNI2/Drivers/OniFile.dll"
+        "${SOURCE_BIN_PATH_RELEASE}/OpenNI2/Drivers/PS1080.dll"
+        "${SOURCE_CONFIG_PATH}/OpenNI2/Drivers/PS1080.ini"
+        "${SOURCE_BIN_PATH_RELEASE}/OpenNI2/Drivers/PSLink.dll"
+        "${SOURCE_CONFIG_PATH}/OpenNI2/Drivers/PSLink.ini"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/bin/OpenNI2/Drivers
+)
+
+file(
+    INSTALL
+        "${SOURCE_CONFIG_PATH}/OpenNI.ini"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/bin/OpenNI2
+)
+
+file(
+    INSTALL
+        "${SOURCE_BIN_PATH_RELEASE}/OpenNI2.dll"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/bin
+)
+
+file(
+    INSTALL
+        "${SOURCE_BIN_PATH_DEBUG}/OpenNI2/Drivers/Kinect.dll"
+        "${SOURCE_BIN_PATH_DEBUG}/OpenNI2/Drivers/OniFile.dll"
+        "${SOURCE_BIN_PATH_DEBUG}/OpenNI2/Drivers/PS1080.dll"
+        "${SOURCE_CONFIG_PATH}/OpenNI2/Drivers/PS1080.ini"
+        "${SOURCE_BIN_PATH_DEBUG}/OpenNI2/Drivers/PSLink.dll"
+        "${SOURCE_CONFIG_PATH}/OpenNI2/Drivers/PSLink.ini"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/debug/bin/OpenNI2/Drivers
+)
+
+file(
+    INSTALL
+        "${SOURCE_CONFIG_PATH}/OpenNI.ini"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/debug/bin/OpenNI2
+)
+
+file(
+    INSTALL
+        "${SOURCE_BIN_PATH_DEBUG}/OpenNI2.dll"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/debug/bin
+)
+
+file(
+    INSTALL
+        "${SOURCE_BIN_PATH_RELEASE}/OpenNI2/Drivers/Kinect.dll"
+        "${SOURCE_BIN_PATH_RELEASE}/OpenNI2/Drivers/OniFile.dll"
+        "${SOURCE_BIN_PATH_RELEASE}/OpenNI2/Drivers/PS1080.dll"
+        "${SOURCE_CONFIG_PATH}/OpenNI2/Drivers/PS1080.ini"
+        "${SOURCE_BIN_PATH_RELEASE}/OpenNI2/Drivers/PSLink.dll"
+        "${SOURCE_CONFIG_PATH}/OpenNI2/Drivers/PSLink.ini"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/tools/openni2/OpenNI2/Drivers
+)
+
+if(VCPKG_TARGET_ARCHITECTURE STREQUAL "x86")
+    set(NUMBEROFBIT 32)
+elseif(VCPKG_TARGET_ARCHITECTURE STREQUAL "x64")
+    set(NUMBEROFBIT 64)
+endif()
+
+file(
+    INSTALL
+        "${SOURCE_THIRDPARTY_PATH}/GL/glut${NUMBEROFBIT}.dll"
+        "${SOURCE_BIN_PATH_RELEASE}/NiViewer.exe"
+        "${SOURCE_CONFIG_PATH}/OpenNI.ini"
+        "${SOURCE_BIN_PATH_RELEASE}/OpenNI2.dll"
+        "${SOURCE_BIN_PATH_RELEASE}/PS1080Console.exe"
+        "${SOURCE_BIN_PATH_RELEASE}/PSLinkConsole.exe"
+    DESTINATION
+        ${CURRENT_PACKAGES_DIR}/tools/openni2
+)
+
+# Deploy Script
+file(COPY ${CMAKE_CURRENT_LIST_DIR}/openni2deploy.ps1 DESTINATION ${CURRENT_PACKAGES_DIR}/bin/OpenNI2)
+file(COPY ${CMAKE_CURRENT_LIST_DIR}/openni2deploy.ps1 DESTINATION ${CURRENT_PACKAGES_DIR}/debug/bin/OpenNI2)
+
+# Handle copyright
+file(COPY ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/openni2)
+file(RENAME ${CURRENT_PACKAGES_DIR}/share/openni2/LICENSE ${CURRENT_PACKAGES_DIR}/share/openni2/copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openni2/replace_environment_variable.patch

@@ -0,0 +1,76 @@
+diff --git a/Source/Drivers/Kinect/Kinect.vcxproj b/Source/Drivers/Kinect/Kinect.vcxproj
+index 08a49fe..7fd8620 100644
+--- a/Source/Drivers/Kinect/Kinect.vcxproj
++++ b/Source/Drivers/Kinect/Kinect.vcxproj
+@@ -101,7 +101,7 @@
+     <ClCompile>
+       <WarningLevel>Level3</WarningLevel>
+       <Optimization>Disabled</Optimization>
+-      <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;$(KINECTSDK10_DIR)\inc;</AdditionalIncludeDirectories>
++      <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;@NATIVE_INSTALLED_DIR@\include</AdditionalIncludeDirectories>
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions);_WINDOWS</PreprocessorDefinitions>
+       <DisableLanguageExtensions>false</DisableLanguageExtensions>
+       <TreatWarningAsError>false</TreatWarningAsError>
+@@ -109,7 +109,7 @@
+     <Link>
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+       <AdditionalDependencies>Kinect10.lib;XnLib.lib;%(AdditionalDependencies)</AdditionalDependencies>
+-      <AdditionalLibraryDirectories>$(SolutionDir)Bin\$(Platform)-$(Configuration)\;$(KINECTSDK10_DIR)\lib\x86;</AdditionalLibraryDirectories>
++      <AdditionalLibraryDirectories>$(SolutionDir)Bin\$(Platform)-$(Configuration)\;@NATIVE_INSTALLED_DIR@\debug\lib</AdditionalLibraryDirectories>
+       <TreatLinkerWarningAsErrors>true</TreatLinkerWarningAsErrors>
+     </Link>
+   </ItemDefinitionGroup>
+@@ -117,7 +117,7 @@
+     <ClCompile>
+       <WarningLevel>Level3</WarningLevel>
+       <Optimization>Disabled</Optimization>
+-      <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;$(KINECTSDK10_DIR)\inc;</AdditionalIncludeDirectories>
++      <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;@NATIVE_INSTALLED_DIR@\include</AdditionalIncludeDirectories>
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions);_WINDOWS</PreprocessorDefinitions>
+       <DisableLanguageExtensions>false</DisableLanguageExtensions>
+       <TreatWarningAsError>false</TreatWarningAsError>
+@@ -125,7 +125,7 @@
+     <Link>
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+       <AdditionalDependencies>Kinect10.lib;XnLib.lib;%(AdditionalDependencies)</AdditionalDependencies>
+-      <AdditionalLibraryDirectories>$(SolutionDir)Bin\$(Platform)-$(Configuration)\;$(KINECTSDK10_DIR)\lib\amd64;</AdditionalLibraryDirectories>
++      <AdditionalLibraryDirectories>$(SolutionDir)Bin\$(Platform)-$(Configuration)\;@NATIVE_INSTALLED_DIR@\debug\lib</AdditionalLibraryDirectories>
+       <IgnoreSpecificDefaultLibraries>
+       </IgnoreSpecificDefaultLibraries>
+       <IgnoreAllDefaultLibraries>
+@@ -139,7 +139,7 @@
+       <Optimization>MaxSpeed</Optimization>
+       <FunctionLevelLinking>true</FunctionLevelLinking>
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+-      <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;$(KINECTSDK10_DIR)\inc;</AdditionalIncludeDirectories>
++      <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;@NATIVE_INSTALLED_DIR@\include</AdditionalIncludeDirectories>
+       <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+@@ -147,7 +147,7 @@
+       <EnableCOMDATFolding>true</EnableCOMDATFolding>
+       <OptimizeReferences>true</OptimizeReferences>
+       <AdditionalDependencies>Kinect10.lib;XnLib.lib;%(AdditionalDependencies)</AdditionalDependencies>
+-      <AdditionalLibraryDirectories>$(SolutionDir)Bin\$(Platform)-$(Configuration)\;$(KINECTSDK10_DIR)\lib\x86;</AdditionalLibraryDirectories>
++      <AdditionalLibraryDirectories>$(SolutionDir)Bin\$(Platform)-$(Configuration)\;@NATIVE_INSTALLED_DIR@\lib</AdditionalLibraryDirectories>
+       <TreatLinkerWarningAsErrors>true</TreatLinkerWarningAsErrors>
+     </Link>
+   </ItemDefinitionGroup>
+@@ -157,7 +157,7 @@
+       <Optimization>MaxSpeed</Optimization>
+       <FunctionLevelLinking>true</FunctionLevelLinking>
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+-      <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;$(KINECTSDK10_DIR)\inc;</AdditionalIncludeDirectories>
++      <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;@NATIVE_INSTALLED_DIR@\include</AdditionalIncludeDirectories>
+       <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+@@ -165,7 +165,7 @@
+       <EnableCOMDATFolding>true</EnableCOMDATFolding>
+       <OptimizeReferences>true</OptimizeReferences>
+       <AdditionalDependencies>Kinect10.lib;XnLib.lib;%(AdditionalDependencies)</AdditionalDependencies>
+-      <AdditionalLibraryDirectories>$(SolutionDir)Bin\$(Platform)-$(Configuration)\;$(KINECTSDK10_DIR)\lib\amd64;</AdditionalLibraryDirectories>
++      <AdditionalLibraryDirectories>$(SolutionDir)Bin\$(Platform)-$(Configuration)\;@NATIVE_INSTALLED_DIR@\lib</AdditionalLibraryDirectories>
+       <TreatLinkerWarningAsErrors>true</TreatLinkerWarningAsErrors>
+     </Link>
+   </ItemDefinitionGroup>

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openni2/upgrade_projects.patch

@@ -0,0 +1,1572 @@
+diff --git a/Samples/ClosestPointViewer/ClosestPointViewer.vcxproj b/Samples/ClosestPointViewer/ClosestPointViewer.vcxproj
+index fe63dbf..6050e8f 100644
+--- a/Samples/ClosestPointViewer/ClosestPointViewer.vcxproj
++++ b/Samples/ClosestPointViewer/ClosestPointViewer.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -27,23 +27,27 @@
+     <ConfigurationType>Application</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -84,7 +88,7 @@
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <WarningLevel>Level4</WarningLevel>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MinimalRebuild>
+       </MinimalRebuild>
+     </ClCompile>
+@@ -105,7 +109,7 @@
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <WarningLevel>Level4</WarningLevel>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MinimalRebuild>
+       </MinimalRebuild>
+     </ClCompile>
+@@ -133,7 +137,7 @@
+       <BufferSecurityCheck>false</BufferSecurityCheck>
+       <EnableEnhancedInstructionSet>StreamingSIMDExtensions2</EnableEnhancedInstructionSet>
+       <FloatingPointModel>Fast</FloatingPointModel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+@@ -142,6 +146,7 @@
+       <AdditionalDependencies>glut32.lib;OpenNI2.lib;MWClosestPoint.lib</AdditionalDependencies>
+       <AdditionalLibraryDirectories>$(OutDir);..\..\ThirdParty\GL</AdditionalLibraryDirectories>
+       <TreatLinkerWarningAsErrors>true</TreatLinkerWarningAsErrors>
++      <ImageHasSafeExceptionHandlers>false</ImageHasSafeExceptionHandlers>
+     </Link>
+     <ResourceCompile>
+       <AdditionalIncludeDirectories>..\..\Include</AdditionalIncludeDirectories>
+@@ -161,7 +166,7 @@
+       <BufferSecurityCheck>false</BufferSecurityCheck>
+       <EnableEnhancedInstructionSet>StreamingSIMDExtensions2</EnableEnhancedInstructionSet>
+       <FloatingPointModel>Fast</FloatingPointModel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+diff --git a/Samples/EventBasedRead/EventBasedRead.vcxproj b/Samples/EventBasedRead/EventBasedRead.vcxproj
+index f67db7a..ffe19ac 100644
+--- a/Samples/EventBasedRead/EventBasedRead.vcxproj
++++ b/Samples/EventBasedRead/EventBasedRead.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -27,23 +27,27 @@
+     <ConfigurationType>Application</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -83,7 +87,7 @@
+       <AdditionalIncludeDirectories>..\..\Include;..\Common;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <WarningLevel>Level4</WarningLevel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <MinimalRebuild>
+       </MinimalRebuild>
+@@ -101,7 +105,7 @@
+       <AdditionalIncludeDirectories>..\..\Include;..\Common;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <WarningLevel>Level4</WarningLevel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <MinimalRebuild>
+       </MinimalRebuild>
+@@ -119,7 +123,7 @@
+       <Optimization>MaxSpeed</Optimization>
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <AdditionalIncludeDirectories>..\..\Include;..\Common;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
+@@ -144,7 +148,7 @@
+       <Optimization>MaxSpeed</Optimization>
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <AdditionalIncludeDirectories>..\..\Include;..\Common;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
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+index 74cafe7..5844506 100644
+--- a/Samples/MWClosestPoint/MWClosestPoint.vcxproj
++++ b/Samples/MWClosestPoint/MWClosestPoint.vcxproj
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++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -84,7 +88,7 @@
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+@@ -105,7 +109,7 @@
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+     <Link>
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+index 063ec37..deb7c17 100644
+--- a/Samples/MWClosestPointApp/MWClosestPointApp.vcxproj
++++ b/Samples/MWClosestPointApp/MWClosestPointApp.vcxproj
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+   <ItemGroup Label="ProjectConfigurations">
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+@@ -27,23 +27,27 @@
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+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -83,7 +87,7 @@
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+       <MinimalRebuild>
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+@@ -103,7 +107,7 @@
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+@@ -131,7 +135,7 @@
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+@@ -159,7 +163,7 @@
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++      <TreatWarningAsError>false</TreatWarningAsError>
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+     <Link>
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+index d021c0d..85a0d4f 100644
+--- a/Samples/MultiDepthViewer/MultiDepthViewer.vcxproj
++++ b/Samples/MultiDepthViewer/MultiDepthViewer.vcxproj
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++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
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+@@ -27,23 +27,27 @@
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+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -84,7 +88,7 @@
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+     <Link>
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+@@ -136,6 +140,7 @@
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++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+diff --git a/Samples/MultipleStreamRead/MultipleStreamRead.vcxproj b/Samples/MultipleStreamRead/MultipleStreamRead.vcxproj
+index 15887ec..5fa8202 100644
+--- a/Samples/MultipleStreamRead/MultipleStreamRead.vcxproj
++++ b/Samples/MultipleStreamRead/MultipleStreamRead.vcxproj
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+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
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+@@ -83,7 +87,7 @@
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+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
+diff --git a/Samples/SimpleRead/SimpleRead.vcxproj b/Samples/SimpleRead/SimpleRead.vcxproj
+index de3942f..6ce41e3 100644
+--- a/Samples/SimpleRead/SimpleRead.vcxproj
++++ b/Samples/SimpleRead/SimpleRead.vcxproj
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+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
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+index d693a1d..40621e1 100644
+--- a/Samples/SimpleViewer/SimpleViewer.vcxproj
++++ b/Samples/SimpleViewer/SimpleViewer.vcxproj
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+   <ItemGroup Label="ProjectConfigurations">
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+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
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+       <GenerateDebugInformation>true</GenerateDebugInformation>
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+diff --git a/Source/Core/OpenNI.vcxproj b/Source/Core/OpenNI.vcxproj
+index 12189de..f176682 100644
+--- a/Source/Core/OpenNI.vcxproj
++++ b/Source/Core/OpenNI.vcxproj
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+       <WarningLevel>Level4</WarningLevel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <MinimalRebuild>
+       </MinimalRebuild>
+@@ -110,7 +114,7 @@
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions);OPENNI2_EXPORT</PreprocessorDefinitions>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <WarningLevel>Level4</WarningLevel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <MinimalRebuild>
+       </MinimalRebuild>
+@@ -132,7 +136,7 @@
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <PreprocessorDefinitions>_MBCS;%(PreprocessorDefinitions);OPENNI2_EXPORT</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>..\..\Include;..\Drivers\OniFile\Formats;..\..\ThirdParty\PSCommon\XnLib\Include;..\..\ThirdParty\LibJPEG;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
+@@ -161,7 +165,7 @@
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <PreprocessorDefinitions>_MBCS;%(PreprocessorDefinitions);OPENNI2_EXPORT</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>..\..\Include;..\Drivers\OniFile\Formats;..\..\ThirdParty\PSCommon\XnLib\Include;..\..\ThirdParty\LibJPEG;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
+diff --git a/Source/DepthUtils/DepthUtils.vcxproj b/Source/DepthUtils/DepthUtils.vcxproj
+index dcab0b7..e474661 100644
+--- a/Source/DepthUtils/DepthUtils.vcxproj
++++ b/Source/DepthUtils/DepthUtils.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -35,23 +35,27 @@
+     <ConfigurationType>StaticLibrary</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+     <ConfigurationType>StaticLibrary</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+     <ConfigurationType>StaticLibrary</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+     <ConfigurationType>StaticLibrary</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -94,7 +98,7 @@
+       <Optimization>Disabled</Optimization>
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions);DepthUtils_EXPORT</PreprocessorDefinitions>
+       <WarningLevel>Level4</WarningLevel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <MinimalRebuild>
+       </MinimalRebuild>
+@@ -114,7 +118,7 @@
+       <Optimization>Disabled</Optimization>
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions);DepthUtils_EXPORT</PreprocessorDefinitions>
+       <WarningLevel>Level4</WarningLevel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <MinimalRebuild>
+       </MinimalRebuild>
+@@ -134,7 +138,7 @@
+       <Optimization>MaxSpeed</Optimization>
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <PreprocessorDefinitions>_MBCS;%(PreprocessorDefinitions);DepthUtils_EXPORT</PreprocessorDefinitions>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <WholeProgramOptimization>true</WholeProgramOptimization>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+@@ -160,7 +164,7 @@
+       <Optimization>MaxSpeed</Optimization>
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <PreprocessorDefinitions>_MBCS;%(PreprocessorDefinitions);DepthUtils_EXPORT</PreprocessorDefinitions>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
+diff --git a/Source/Drivers/DummyDevice/DummyDevice.vcxproj b/Source/Drivers/DummyDevice/DummyDevice.vcxproj
+index 56c5944..0401f3d 100644
+--- a/Source/Drivers/DummyDevice/DummyDevice.vcxproj
++++ b/Source/Drivers/DummyDevice/DummyDevice.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -27,23 +27,27 @@
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -84,7 +88,7 @@
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions);DummyDevice2_EXPORT</PreprocessorDefinitions>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <WarningLevel>Level4</WarningLevel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+     </ClCompile>
+     <Link>
+@@ -104,7 +108,7 @@
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions);DummyDevice2_EXPORT</PreprocessorDefinitions>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <WarningLevel>Level4</WarningLevel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+     </ClCompile>
+     <Link>
+@@ -124,7 +128,7 @@
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <PreprocessorDefinitions>_MBCS;%(PreprocessorDefinitions);DummyDevice2_EXPORT</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
+@@ -153,7 +157,7 @@
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <PreprocessorDefinitions>_MBCS;%(PreprocessorDefinitions);DummyDevice2_EXPORT</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
+diff --git a/Source/Drivers/Kinect/Kinect.vcxproj b/Source/Drivers/Kinect/Kinect.vcxproj
+index f54e8b2..6ea2656 100644
+--- a/Source/Drivers/Kinect/Kinect.vcxproj
++++ b/Source/Drivers/Kinect/Kinect.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -28,12 +28,14 @@
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>Unicode</CharacterSet>
+     <CLRSupport>true</CLRSupport>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>Unicode</CharacterSet>
+     <CLRSupport>true</CLRSupport>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+@@ -41,6 +43,7 @@
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
+     <CLRSupport>true</CLRSupport>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+@@ -48,6 +51,7 @@
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
+     <CLRSupport>true</CLRSupport>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -99,7 +103,7 @@
+       <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;$(KINECTSDK10_DIR)\inc;</AdditionalIncludeDirectories>
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions);_WINDOWS</PreprocessorDefinitions>
+       <DisableLanguageExtensions>false</DisableLanguageExtensions>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+@@ -115,7 +119,7 @@
+       <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;$(KINECTSDK10_DIR)\inc;</AdditionalIncludeDirectories>
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions);_WINDOWS</PreprocessorDefinitions>
+       <DisableLanguageExtensions>false</DisableLanguageExtensions>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+@@ -125,7 +129,7 @@
+       </IgnoreSpecificDefaultLibraries>
+       <IgnoreAllDefaultLibraries>
+       </IgnoreAllDefaultLibraries>
+-      <TreatLinkerWarningAsErrors>true</TreatLinkerWarningAsErrors>
++      <TreatLinkerWarningAsErrors>false</TreatLinkerWarningAsErrors>
+     </Link>
+   </ItemDefinitionGroup>
+   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+@@ -135,7 +139,7 @@
+       <FunctionLevelLinking>true</FunctionLevelLinking>
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;$(KINECTSDK10_DIR)\inc;</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+@@ -153,7 +157,7 @@
+       <FunctionLevelLinking>true</FunctionLevelLinking>
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;$(KINECTSDK10_DIR)\inc;</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+diff --git a/Source/Drivers/OniFile/OniFile.vcxproj b/Source/Drivers/OniFile/OniFile.vcxproj
+index 9b173f7..e2f4391 100644
+--- a/Source/Drivers/OniFile/OniFile.vcxproj
++++ b/Source/Drivers/OniFile/OniFile.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -28,23 +28,27 @@
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -98,7 +102,7 @@
+       <Optimization>Disabled</Optimization>
+       <PreprocessorDefinitions>WIN32;_DEBUG;_WINDOWS;_USRDLL;ONIFILESPLAYER_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;..\..\..\ThirdParty\LibJPEG</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <MinimalRebuild>
+       </MinimalRebuild>
+@@ -133,7 +137,7 @@
+       <Optimization>Disabled</Optimization>
+       <PreprocessorDefinitions>WIN32;_DEBUG;_WINDOWS;_USRDLL;ONIFILESPLAYER_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;..\..\..\ThirdParty\LibJPEG</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <MinimalRebuild>
+       </MinimalRebuild>
+@@ -169,7 +173,7 @@
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <PreprocessorDefinitions>WIN32;NDEBUG;_WINDOWS;_USRDLL;ONIFILESPLAYER_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;..\..\..\ThirdParty\LibJPEG</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
+@@ -212,7 +216,7 @@
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <PreprocessorDefinitions>WIN32;NDEBUG;_WINDOWS;_USRDLL;ONIFILESPLAYER_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;..\..\..\ThirdParty\LibJPEG</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
+diff --git a/Source/Drivers/PS1080/PS1080.vcxproj b/Source/Drivers/PS1080/PS1080.vcxproj
+index 2a1154d..8495c28 100644
+--- a/Source/Drivers/PS1080/PS1080.vcxproj
++++ b/Source/Drivers/PS1080/PS1080.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -525,23 +525,27 @@
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>Unicode</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>Unicode</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>Unicode</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>Unicode</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -587,7 +591,7 @@
+       <Optimization>Disabled</Optimization>
+       <PreprocessorDefinitions>WIN32;_DEBUG;_WINDOWS;_USRDLL;PS1080_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>.\Include;.\;..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;..\..\..\ThirdParty\LibJPEG;..\..\DepthUtils</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <EnableEnhancedInstructionSet>StreamingSIMDExtensions2</EnableEnhancedInstructionSet>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <MinimalRebuild>
+@@ -612,7 +616,7 @@
+       <Optimization>Disabled</Optimization>
+       <PreprocessorDefinitions>WIN32;_DEBUG;_WINDOWS;_USRDLL;PS1080_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>.\Include;.\;..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;..\..\..\ThirdParty\LibJPEG;..\..\DepthUtils</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <EnableEnhancedInstructionSet>StreamingSIMDExtensions2</EnableEnhancedInstructionSet>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <MinimalRebuild>
+@@ -638,7 +642,7 @@
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+       <PreprocessorDefinitions>WIN32;NDEBUG;_WINDOWS;_USRDLL;PS1080_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>.\Include;.\;..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;..\..\..\ThirdParty\LibJPEG;..\..\DepthUtils</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <EnableEnhancedInstructionSet>StreamingSIMDExtensions2</EnableEnhancedInstructionSet>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+@@ -670,7 +674,7 @@
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <PreprocessorDefinitions>WIN32;NDEBUG;_WINDOWS;_USRDLL;PS1080_EXPORTS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>.\Include;.\;..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include;..\..\..\ThirdParty\LibJPEG;..\..\DepthUtils</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <EnableEnhancedInstructionSet>StreamingSIMDExtensions2</EnableEnhancedInstructionSet>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+diff --git a/Source/Drivers/PS1080/PS1080Console/PS1080Console.vcxproj b/Source/Drivers/PS1080/PS1080Console/PS1080Console.vcxproj
+index b9adfea..7446d5a 100644
+--- a/Source/Drivers/PS1080/PS1080Console/PS1080Console.vcxproj
++++ b/Source/Drivers/PS1080/PS1080Console/PS1080Console.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -28,19 +28,23 @@
+     <ConfigurationType>Application</ConfigurationType>
+     <CharacterSet>MultiByte</CharacterSet>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <CharacterSet>MultiByte</CharacterSet>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -87,7 +91,7 @@
+       <DebugInformationFormat>EditAndContinue</DebugInformationFormat>
+       <DisableSpecificWarnings>4250;4127;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+-      <TreatWarningAsError>true</TreatWarningAsError>
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+     </ClCompile>
+     <Link>
+       <AdditionalDependencies>XnLib.lib;OpenNI2.lib;%(AdditionalDependencies)</AdditionalDependencies>
+@@ -95,7 +99,7 @@
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+       <SubSystem>Console</SubSystem>
+       <TargetMachine>MachineX86</TargetMachine>
+-      <TreatLinkerWarningAsErrors>true</TreatLinkerWarningAsErrors>
++      <TreatLinkerWarningAsErrors>false</TreatLinkerWarningAsErrors>
+     </Link>
+   </ItemDefinitionGroup>
+   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+@@ -114,7 +118,7 @@
+       <WarningLevel>Level4</WarningLevel>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <DisableSpecificWarnings>4250;4127;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <AdditionalDependencies>XnLib.lib;OpenNI2.lib;%(AdditionalDependencies)</AdditionalDependencies>
+@@ -139,7 +143,7 @@
+       <WarningLevel>Level4</WarningLevel>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <DisableSpecificWarnings>4250;4127;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <AdditionalDependencies>XnLib.lib;OpenNI2.lib;%(AdditionalDependencies)</AdditionalDependencies>
+@@ -169,7 +173,7 @@
+       <WarningLevel>Level4</WarningLevel>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <DisableSpecificWarnings>4250;4127;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <AdditionalDependencies>XnLib.lib;OpenNI2.lib;%(AdditionalDependencies)</AdditionalDependencies>
+diff --git a/Source/Drivers/PSLink/PSLink.vcxproj b/Source/Drivers/PSLink/PSLink.vcxproj
+index 8915163..68a7e96 100644
+--- a/Source/Drivers/PSLink/PSLink.vcxproj
++++ b/Source/Drivers/PSLink/PSLink.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -28,19 +28,23 @@
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <CharacterSet>Unicode</CharacterSet>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <CharacterSet>Unicode</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <CharacterSet>Unicode</CharacterSet>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <CharacterSet>Unicode</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -87,7 +91,7 @@
+       <DebugInformationFormat>EditAndContinue</DebugInformationFormat>
+       <DisableSpecificWarnings>4250;4127;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <AdditionalDependencies>XnLib.lib;%(AdditionalDependencies)</AdditionalDependencies>
+@@ -95,7 +99,7 @@
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+       <SubSystem>Windows</SubSystem>
+       <TargetMachine>MachineX86</TargetMachine>
+-      <TreatLinkerWarningAsErrors>true</TreatLinkerWarningAsErrors>
++      <TreatLinkerWarningAsErrors>false</TreatLinkerWarningAsErrors>
+     </Link>
+   </ItemDefinitionGroup>
+   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+@@ -115,7 +119,7 @@
+       <WarningLevel>Level4</WarningLevel>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <DisableSpecificWarnings>4250;4127;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <AdditionalDependencies>XnLib.lib;%(AdditionalDependencies)</AdditionalDependencies>
+@@ -140,7 +144,7 @@
+       <WarningLevel>Level4</WarningLevel>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <DisableSpecificWarnings>4250;4127;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <AdditionalDependencies>XnLib.lib;%(AdditionalDependencies)</AdditionalDependencies>
+@@ -170,7 +174,7 @@
+       <WarningLevel>Level4</WarningLevel>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <DisableSpecificWarnings>4250;4127;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <AdditionalDependencies>XnLib.lib;%(AdditionalDependencies)</AdditionalDependencies>
+diff --git a/Source/Drivers/PSLink/PSLinkConsole/PSLinkConsole.vcxproj b/Source/Drivers/PSLink/PSLinkConsole/PSLinkConsole.vcxproj
+index e6c7c8c..26ff9c8 100644
+--- a/Source/Drivers/PSLink/PSLinkConsole/PSLinkConsole.vcxproj
++++ b/Source/Drivers/PSLink/PSLinkConsole/PSLinkConsole.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -28,19 +28,23 @@
+     <ConfigurationType>Application</ConfigurationType>
+     <CharacterSet>MultiByte</CharacterSet>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <CharacterSet>MultiByte</CharacterSet>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -87,7 +91,7 @@
+       <DebugInformationFormat>EditAndContinue</DebugInformationFormat>
+       <DisableSpecificWarnings>4250;4127;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <AdditionalDependencies>OpenNI2.lib;XnLib.lib;%(AdditionalDependencies)</AdditionalDependencies>
+@@ -95,7 +99,7 @@
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+       <SubSystem>Console</SubSystem>
+       <TargetMachine>MachineX86</TargetMachine>
+-      <TreatLinkerWarningAsErrors>true</TreatLinkerWarningAsErrors>
++      <TreatLinkerWarningAsErrors>false</TreatLinkerWarningAsErrors>
+     </Link>
+   </ItemDefinitionGroup>
+   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+@@ -114,7 +118,7 @@
+       <WarningLevel>Level4</WarningLevel>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <DisableSpecificWarnings>4250;4127;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <AdditionalDependencies>OpenNI2.lib;XnLib.lib;%(AdditionalDependencies)</AdditionalDependencies>
+@@ -139,7 +143,7 @@
+       <WarningLevel>Level4</WarningLevel>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <DisableSpecificWarnings>4250;4127;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <AdditionalDependencies>OpenNI2.lib;XnLib.lib;%(AdditionalDependencies)</AdditionalDependencies>
+@@ -169,7 +173,7 @@
+       <WarningLevel>Level4</WarningLevel>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <DisableSpecificWarnings>4250;4127;%(DisableSpecificWarnings)</DisableSpecificWarnings>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <AdditionalDependencies>OpenNI2.lib;XnLib.lib;%(AdditionalDependencies)</AdditionalDependencies>
+diff --git a/Source/Drivers/TestDevice/TestDevice.vcxproj b/Source/Drivers/TestDevice/TestDevice.vcxproj
+index e20a074..3777b2e 100644
+--- a/Source/Drivers/TestDevice/TestDevice.vcxproj
++++ b/Source/Drivers/TestDevice/TestDevice.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -27,23 +27,27 @@
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -84,7 +88,7 @@
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions);TestDevice2_EXPORT</PreprocessorDefinitions>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <WarningLevel>Level4</WarningLevel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+     </ClCompile>
+     <Link>
+@@ -101,7 +105,7 @@
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions);TestDevice2_EXPORT</PreprocessorDefinitions>
+       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+       <WarningLevel>Level4</WarningLevel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+     </ClCompile>
+     <Link>
+@@ -118,7 +122,7 @@
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <PreprocessorDefinitions>_MBCS;%(PreprocessorDefinitions);TestDevice2_EXPORT</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
+@@ -144,7 +148,7 @@
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <PreprocessorDefinitions>_MBCS;%(PreprocessorDefinitions);TestDevice2_EXPORT</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>..\..\..\Include;..\..\..\ThirdParty\PSCommon\XnLib\Include</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
+diff --git a/Source/Tools/NiViewer/NiViewer.vcxproj b/Source/Tools/NiViewer/NiViewer.vcxproj
+index 0a4c392..e331009 100644
+--- a/Source/Tools/NiViewer/NiViewer.vcxproj
++++ b/Source/Tools/NiViewer/NiViewer.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -27,23 +27,27 @@
+     <ConfigurationType>Application</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+     <ConfigurationType>Application</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -84,7 +88,7 @@
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <WarningLevel>Level4</WarningLevel>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MinimalRebuild>
+       </MinimalRebuild>
+     </ClCompile>
+@@ -105,7 +109,7 @@
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+       <WarningLevel>Level4</WarningLevel>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MinimalRebuild>
+       </MinimalRebuild>
+     </ClCompile>
+@@ -133,7 +137,7 @@
+       <BufferSecurityCheck>false</BufferSecurityCheck>
+       <EnableEnhancedInstructionSet>StreamingSIMDExtensions2</EnableEnhancedInstructionSet>
+       <FloatingPointModel>Fast</FloatingPointModel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+@@ -142,6 +146,7 @@
+       <AdditionalDependencies>Comdlg32.lib;OpenNI2.lib;XnLib.lib;glut32.lib</AdditionalDependencies>
+       <AdditionalLibraryDirectories>$(OutDir);..\..\..\ThirdParty\GL</AdditionalLibraryDirectories>
+       <TreatLinkerWarningAsErrors>true</TreatLinkerWarningAsErrors>
++      <ImageHasSafeExceptionHandlers>false</ImageHasSafeExceptionHandlers>
+     </Link>
+     <ResourceCompile>
+       <AdditionalIncludeDirectories>..\..\..\Include</AdditionalIncludeDirectories>
+@@ -161,7 +166,7 @@
+       <BufferSecurityCheck>false</BufferSecurityCheck>
+       <EnableEnhancedInstructionSet>StreamingSIMDExtensions2</EnableEnhancedInstructionSet>
+       <FloatingPointModel>Fast</FloatingPointModel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+     </ClCompile>
+     <Link>
+       <GenerateDebugInformation>true</GenerateDebugInformation>
+diff --git a/ThirdParty/PSCommon/XnLib/Source/XnLib.vcxproj b/ThirdParty/PSCommon/XnLib/Source/XnLib.vcxproj
+index 2761222..f2094b3 100644
+--- a/ThirdParty/PSCommon/XnLib/Source/XnLib.vcxproj
++++ b/ThirdParty/PSCommon/XnLib/Source/XnLib.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -116,23 +116,27 @@
+     <ConfigurationType>StaticLibrary</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
+     <ConfigurationType>StaticLibrary</ConfigurationType>
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+     <ConfigurationType>StaticLibrary</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
+     <ConfigurationType>StaticLibrary</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>MultiByte</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">
+@@ -176,7 +180,7 @@
+       <AdditionalIncludeDirectories>..\Include;..\Driver\Win32\Build\sys;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions);XnLib_EXPORT</PreprocessorDefinitions>
+       <WarningLevel>Level4</WarningLevel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <MinimalRebuild>
+       </MinimalRebuild>
+@@ -198,7 +202,7 @@
+       <AdditionalIncludeDirectories>..\Include;..\Driver\Win32\Build\sys;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+       <PreprocessorDefinitions>_WINDLL;%(PreprocessorDefinitions);XnLib_EXPORT</PreprocessorDefinitions>
+       <WarningLevel>Level4</WarningLevel>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <MinimalRebuild>
+       </MinimalRebuild>
+@@ -220,7 +224,7 @@
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <PreprocessorDefinitions>_MBCS;%(PreprocessorDefinitions);XnLib_EXPORT</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>..\Include;..\Driver\Win32\Build\sys;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <WholeProgramOptimization>true</WholeProgramOptimization>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+@@ -248,7 +252,7 @@
+       <IntrinsicFunctions>true</IntrinsicFunctions>
+       <PreprocessorDefinitions>_MBCS;%(PreprocessorDefinitions);XnLib_EXPORT</PreprocessorDefinitions>
+       <AdditionalIncludeDirectories>..\Include;..\Driver\Win32\Build\sys;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+-      <TreatWarningAsError>true</TreatWarningAsError>
++      <TreatWarningAsError>false</TreatWarningAsError>
+       <MultiProcessorCompilation>true</MultiProcessorCompilation>
+       <InlineFunctionExpansion>AnySuitable</InlineFunctionExpansion>
+       <FavorSizeOrSpeed>Speed</FavorSizeOrSpeed>
+diff --git a/Wrappers/java/OpenNI.jni/OpenNI.jni.vcxproj b/Wrappers/java/OpenNI.jni/OpenNI.jni.vcxproj
+index b95c484..bfd0503 100644
+--- a/Wrappers/java/OpenNI.jni/OpenNI.jni.vcxproj
++++ b/Wrappers/java/OpenNI.jni/OpenNI.jni.vcxproj
+@@ -2,4 +2,4 @@
+-<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
++<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+   <ItemGroup Label="ProjectConfigurations">
+     <ProjectConfiguration Include="Debug|Win32">
+       <Configuration>Debug</Configuration>
+@@ -28,18 +28,22 @@
+     <UseDebugLibraries>true</UseDebugLibraries>
+     <CharacterSet>Unicode</CharacterSet>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
+     <UseDebugLibraries>false</UseDebugLibraries>
+     <WholeProgramOptimization>true</WholeProgramOptimization>
+     <CharacterSet>Unicode</CharacterSet>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Label="Configuration" Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <PropertyGroup Label="Configuration" Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+     <ConfigurationType>DynamicLibrary</ConfigurationType>
++    <PlatformToolset>v141</PlatformToolset>
+   </PropertyGroup>
+   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+   <ImportGroup Label="ExtensionSettings">

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openni2/vcpkg.json

@@ -0,0 +1,11 @@
+{
+  "name": "openni2",
+  "version-string": "2.2.0.33",
+  "port-version": 13,
+  "description": "OpenNI is open source library for access to Natural Interaction (NI) devices such as RGB-D camera.",
+  "homepage": "https://github.com/OpenNI/OpenNI2",
+  "supports": "!uwp",
+  "dependencies": [
+    "kinectsdk1"
+  ]
+}

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

@@ -0,0 +1,121 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 4de5b57..5f483a3 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -140,15 +140,25 @@ find_package(SWIG)
+ find_package(LibXml2 REQUIRED)
+ find_package(LibXslt REQUIRED)
+ find_package(BZip2)
++find_package(OpenSSL REQUIRED)
++find_package(ZLIB REQUIRED)
+ 
+ # PThread
+-set(CMAKE_THREAD_PREFER_PTHREAD)
+-set(THREADS_PREFER_PTHREAD_FLAG)
+-set(THREADS_USE_PTHREADS_WIN32 true)
+-find_package(Threads REQUIRED)
+-check_library_exists(pthread pthread_timedjoin_np "" HAVE_PTHREAD_TIMEDJOIN_NP)
+-check_library_exists(pthread pthread_setname_np "" HAVE_PTHREAD_SETNAME_NP)
+-check_library_exists(pthread pthread_getname_np "" HAVE_PTHREAD_GETNAME_NP)
++if (WIN32)
++    set(CMAKE_THREAD_PREFER_PTHREAD)
++    set(THREADS_PREFER_PTHREAD_FLAG)
++    set(THREADS_USE_PTHREADS_WIN32 true)
++    find_package(pthread CONFIG REQUIRED)
++    set(CMAKE_THREAD_LIBS_INIT ${PThreads4W_LIBRARY})
++    check_library_exists(pthread pthread_timedjoin_np "" HAVE_PTHREAD_TIMEDJOIN_NP)
++    check_library_exists(pthread pthread_setname_np "" HAVE_PTHREAD_SETNAME_NP)
++    check_library_exists(pthread pthread_getname_np "" HAVE_PTHREAD_GETNAME_NP)
++else()
++    set(THREADS_USE_PTHREADS_WIN32 -pthread)
++endif()
++
++# OpenSSL
++link_libraries(OpenSSL::SSL OpenSSL::Crypto)
+ 
+ # WITH_CRYPTO
+ set(WITH_CRYPTO "gcrypt" CACHE STRING "gcrypt|nss3")
+@@ -373,19 +383,9 @@ message(STATUS "asciidoc: ${ASCIIDOC_EXECUTABLE}")
+ 
+ # ---------- PATHS
+ 
+-if(WIN32)
+-	# Windows installer does not allow full paths.
+-	# The install path can be changed by user in Windows installer.
+-	# We will use relative names - "schemas", "xsl" and "cpe"
+-	# directories will be located in the same directory as oscap.exe.
+-	set(OSCAP_DEFAULT_SCHEMA_PATH "schemas")
+-	set(OSCAP_DEFAULT_XSLT_PATH "xsl")
+-	set(OSCAP_DEFAULT_CPE_PATH "cpe")
+-else()
+-	set(OSCAP_DEFAULT_SCHEMA_PATH "${CMAKE_INSTALL_FULL_DATADIR}/openscap/schemas")
+-	set(OSCAP_DEFAULT_XSLT_PATH "${CMAKE_INSTALL_FULL_DATADIR}/openscap/xsl")
+-	set(OSCAP_DEFAULT_CPE_PATH "${CMAKE_INSTALL_FULL_DATADIR}/openscap/cpe")
+-endif()
++set(OSCAP_DEFAULT_SCHEMA_PATH share/openscap/schemas)
++set(OSCAP_DEFAULT_XSLT_PATH share/openscap/xsl)
++set(OSCAP_DEFAULT_CPE_PATH share/openscap/cpe)
+ set(OSCAP_TEMP_DIR "/tmp" CACHE STRING "use different temporary directory to execute sce scripts (default=/tmp)")
+ 
+ # ---------- RPATHS for linking
+diff --git a/utils/CMakeLists.txt b/utils/CMakeLists.txt
+index 2a3f373..781d05a 100644
+--- a/utils/CMakeLists.txt
++++ b/utils/CMakeLists.txt
+@@ -6,27 +6,32 @@ if(ENABLE_OSCAP_UTIL)
+ 	add_executable(oscap ${UTILS_SOURCES})
+ 	target_link_libraries(oscap openscap)
+ 	if(WIN32)
+-		set(OSCAP_UTIL_DESTINATION ".")
++        find_path(GETOPT_INCLUDE_DIR getopt.h)
++        include(SelectLibraryConfigurations)
++        find_library(GETOPT_LIBRARY_RELEASE NAMES getopt)
++        find_library(GETOPT_LIBRARY_DEBUG NAMES getopt PATH_SUFFIXES debug/lib)
++        select_library_configurations(GETOPT)
++        
++        message("GETOPT_INCLUDE_DIR: ${GETOPT_INCLUDE_DIR}")
++        message("GETOPT_LIBRARY: ${GETOPT_LIBRARY}")
++        
++        target_include_directories(oscap PRIVATE ${GETOPT_INCLUDE_DIR})
++        target_link_libraries(oscap PRIVATE ${GETOPT_LIBRARY})
++        
++		set(OSCAP_UTIL_DESTINATION tools)
+ 		# Install the 'oscap' utility
+ 		install(TARGETS "oscap"
+ 			DESTINATION ${OSCAP_UTIL_DESTINATION}
+ 		)
+-		# Install all recursively dependent DLLs for oscap.exe
+-		set(APPS "\${CMAKE_INSTALL_PREFIX}/oscap.exe") # the \ before $ is required by BundleUtilities
+-		set(VCPKG_DLL_DIR "${_VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}/bin")
+-		install(CODE "
+-			include(BundleUtilities)
+-			fixup_bundle(\"${APPS}\" \"\" \"${VCPKG_DLL_DIR}\")
+-		")
+ 	else()
+-		set(OSCAP_UTIL_DESTINATION ${CMAKE_INSTALL_BINDIR})
++		set(OSCAP_UTIL_DESTINATION tools)
+ 		# Install the 'oscap' utility
+ 		install(TARGETS "oscap"
+ 			DESTINATION ${OSCAP_UTIL_DESTINATION}
+ 		)
+ 		# Install manual page
+ 		install(FILES "oscap.8"
+-			DESTINATION "${CMAKE_INSTALL_MANDIR}/man8"
++			DESTINATION share/openscap/man8
+ 		)
+ 	endif()
+ endif()
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 9e18613..e84a21f 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -125,4 +125,8 @@ else()
+ 	set(OPENSCAP_INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR})
+ endif()
+ 
+-install(TARGETS openscap DESTINATION ${OPENSCAP_INSTALL_DESTINATION})
++install(TARGETS openscap
++  RUNTIME DESTINATION bin
++  LIBRARY DESTINATION lib
++  ARCHIVE DESTINATION lib
++)

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

@@ -0,0 +1,45 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO OpenSCAP/openscap
+    REF 3a4c635691380fa990a226acc8558db35d7ebabc #1.3.1
+    SHA512 12681d43b2ce067c5a5c4eb47e14d91d6e9362b1f98f1d35b05d79ad84c7ee8c29f438eaae8e8465033155e500bb0f936eb79af46fab15e4a07e03c6be8b655d
+    HEAD_REF dev
+    PATCHES
+        fix-build.patch
+)
+
+if ("python" IN_LIST FEATURES)
+    vcpkg_find_acquire_program(PYTHON3)
+endif()
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    docs ENABLE_DOCS
+    tests ENABLE_TESTS
+    util ENABLE_OSCAP_UTIL
+    python ENABLE_PYTHON3
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS ${FEATURE_OPTIONS}
+        -DPYTHON_EXECUTABLE=${PYTHON3}
+        -DENABLE_PERL=OFF
+        -DENABLE_MITRE=OFF
+        -DENABLE_VALGRIND=OFF
+        -DENABLE_OSCAP_UTIL_DOCKER=OFF
+        -DENABLE_OSCAP_UTIL_AS_RPM=OFF
+        -DENABLE_OSCAP_UTIL_SSH=OFF
+        -DENABLE_OSCAP_UTIL_VM=OFF
+        -DENABLE_OSCAP_UTIL_PODMAN=OFF
+        -DENABLE_OSCAP_UTIL_CHROOT=OFF
+)
+
+vcpkg_install_cmake()
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include ${CURRENT_PACKAGES_DIR}/debug/share)
+
+vcpkg_copy_pdbs()
+
+#Handle copyright
+file(INSTALL ${SOURCE_PATH}/COPYING DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

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

@@ -0,0 +1,39 @@
+{
+  "name": "openscap",
+  "version-string": "1.3.1",
+  "port-version": 1,
+  "description": "The oscap program is a command line tool that allows users to load, scan, validate, edit, and export SCAP documents.",
+  "homepage": "https://github.com/OpenSCAP/openscap",
+  "dependencies": [
+    "curl",
+    "glib",
+    "libpopt",
+    "libxml2",
+    "libxslt",
+    "libzip",
+    "openssl",
+    "pcre2",
+    "pthread",
+    "zlib"
+  ],
+  "features": {
+    "docs": {
+      "description": "install docs"
+    },
+    "python": {
+      "description": "build with python3"
+    },
+    "tests": {
+      "description": "build with tests"
+    },
+    "util": {
+      "description": "build available utils",
+      "dependencies": [
+        {
+          "name": "getopt-win32",
+          "platform": "windows"
+        }
+      ]
+    }
+  }
+}

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

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

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openssl-unix/vcpkg.json

@@ -0,0 +1,10 @@
+{
+  "name": "openssl-unix",
+  "version-string": "1.1.1h",
+  "port-version": 2,
+  "description": "Deprecated OpenSSL port",
+  "supports": "!(windows | uwp)",
+  "dependencies": [
+    "openssl"
+  ]
+}

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

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

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openssl-uwp/vcpkg.json

@@ -0,0 +1,10 @@
+{
+  "name": "openssl-uwp",
+  "version-string": "1.1.1h",
+  "port-version": 2,
+  "description": "Deprecated OpenSSL port",
+  "supports": "uwp",
+  "dependencies": [
+    "openssl"
+  ]
+}

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

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

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openssl-windows/vcpkg.json

@@ -0,0 +1,10 @@
+{
+  "name": "openssl-windows",
+  "version-string": "1.1.1h",
+  "port-version": 2,
+  "description": "Deprecated OpenSSL port",
+  "supports": "windows",
+  "dependencies": [
+    "openssl"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openssl/install-pc-files.cmake

@@ -0,0 +1,32 @@
+function(install_pc_file name pc_data)
+    if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+        configure_file("${CMAKE_CURRENT_LIST_DIR}/openssl.pc.in" "${CURRENT_PACKAGES_DIR}/lib/pkgconfig/${name}.pc" @ONLY)
+    endif()
+    if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+        configure_file("${CMAKE_CURRENT_LIST_DIR}/openssl.pc.in" "${CURRENT_PACKAGES_DIR}/debug/lib/pkgconfig/${name}.pc" @ONLY)
+    endif()
+endfunction()
+
+install_pc_file(openssl [[
+Name: OpenSSL
+Description: Secure Sockets Layer and cryptography libraries and tools
+Requires: libssl libcrypto
+]])
+
+install_pc_file(libssl [[
+Name: OpenSSL-libssl
+Description: Secure Sockets Layer and cryptography libraries
+Libs: -L"${libdir}" -llibssl
+Requires: libcrypto
+Cflags: -I"${includedir}"
+]])
+
+install_pc_file(libcrypto [[
+Name: OpenSSL-libcrypto
+Description: OpenSSL cryptography library
+Libs: -L"${libdir}" -llibcrypto
+Libs.private: -lcrypt32 -lws2_32
+Cflags: -I"${includedir}"
+]])
+
+vcpkg_fixup_pkgconfig()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openssl/openssl.pc.in

@@ -0,0 +1,6 @@
+prefix=${pcfiledir}/../..
+exec_prefix=${prefix}
+libdir=${exec_prefix}/lib
+includedir=${prefix}/include
+Version: @OPENSSL_VERSION@
+@pc_data@

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

@@ -0,0 +1,38 @@
+if(EXISTS "${CURRENT_INSTALLED_DIR}/share/libressl/copyright"
+    OR EXISTS "${CURRENT_INSTALLED_DIR}/share/boringssl/copyright")
+    message(FATAL_ERROR "Can't build openssl if libressl/boringssl is installed. Please remove libressl/boringssl, and try install openssl again if you need it.")
+endif()
+
+if (VCPKG_TARGET_IS_LINUX)
+    message(WARNING
+[[openssl currently requires the following library from the system package manager:
+    linux-headers
+It can be installed on alpine systems via apk add linux-headers.]]
+    )
+endif()
+
+set(OPENSSL_VERSION 3.0.2)
+
+vcpkg_download_distfile(
+    ARCHIVE
+    URLS "https://www.openssl.org/source/openssl-${OPENSSL_VERSION}.tar.gz"
+    FILENAME "openssl-${OPENSSL_VERSION}.tar.gz"
+    SHA512 f986850d5be908b4d6b5fd7091bc4652d7378c9bccebfbc5becd7753843c04c1eb61a1749c432139d263dfac33df0b1f6c773664b485cad47542266823a4eb03
+)
+
+vcpkg_find_acquire_program(PERL)
+get_filename_component(PERL_EXE_PATH ${PERL} DIRECTORY)
+vcpkg_add_to_path("${PERL_EXE_PATH}")
+
+if(VCPKG_TARGET_IS_UWP)
+    include("${CMAKE_CURRENT_LIST_DIR}/uwp/portfile.cmake")
+    include("${CMAKE_CURRENT_LIST_DIR}/install-pc-files.cmake")
+elseif(VCPKG_TARGET_IS_WINDOWS AND NOT VCPKG_TARGET_IS_MINGW)
+    include("${CMAKE_CURRENT_LIST_DIR}/windows/portfile.cmake")
+    include("${CMAKE_CURRENT_LIST_DIR}/install-pc-files.cmake")
+else()
+    include("${CMAKE_CURRENT_LIST_DIR}/unix/portfile.cmake")
+endif()
+
+configure_file("${CMAKE_CURRENT_LIST_DIR}/vcpkg-cmake-wrapper.cmake.in" "${CURRENT_PACKAGES_DIR}/share/${PORT}/vcpkg-cmake-wrapper.cmake" @ONLY)
+file(INSTALL "${CMAKE_CURRENT_LIST_DIR}/usage" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}")

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

@@ -0,0 +1,285 @@
+cmake_minimum_required(VERSION 3.9)
+project(openssl C)
+
+if(NOT SOURCE_PATH)
+    message(FATAL_ERROR "Requires SOURCE_PATH")
+endif()
+
+if(CMAKE_SYSTEM_NAME STREQUAL "Android" OR CMAKE_SYSTEM_NAME STREQUAL "Linux")
+    if(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+        set(PLATFORM linux-x86_64)
+    else()
+        set(PLATFORM linux-generic32)
+    endif()
+elseif(CMAKE_SYSTEM_NAME STREQUAL "iOS")
+    if(VCPKG_TARGET_ARCHITECTURE MATCHES "arm64")
+        set(PLATFORM ios64-xcrun)
+    elseif(VCPKG_TARGET_ARCHITECTURE MATCHES "arm")
+        set(PLATFORM ios-xcrun)
+    elseif(VCPKG_TARGET_ARCHITECTURE MATCHES "x86" OR
+           VCPKG_TARGET_ARCHITECTURE MATCHES "x64")
+        set(PLATFORM iossimulator-xcrun)
+    else()
+        message(FATAL_ERROR "Unknown iOS target architecture: ${VCPKG_TARGET_ARCHITECTURE}")
+    endif()
+    # disable that makes linkage error (e.g. require stderr usage)
+    list(APPEND DISABLES no-stdio no-ui no-asm)
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
+    if(VCPKG_TARGET_ARCHITECTURE MATCHES "arm64")
+        set(PLATFORM darwin64-arm64-cc)
+    else()
+        set(PLATFORM darwin64-x86_64-cc)
+    endif()
+elseif(CMAKE_SYSTEM_NAME STREQUAL "FreeBSD")
+    set(PLATFORM BSD-generic64)
+elseif(CMAKE_SYSTEM_NAME STREQUAL "OpenBSD")
+    set(PLATFORM BSD-generic64)
+elseif(MINGW)
+    if(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+        set(PLATFORM mingw64)
+    else()
+        set(PLATFORM mingw)
+    endif()
+elseif(EMSCRIPTEN)
+    set(MAKE $ENV{EMSDK}/upstream/emscripten/emmake)
+    set(ENV{MAKE} $ENV{EMSDK}/upstream/emscripten/emmake)
+else()
+    message(FATAL_ERROR "Unknown platform")
+endif()
+
+get_filename_component(COMPILER_ROOT "${CMAKE_C_COMPILER}" DIRECTORY)
+
+message("CMAKE_C_COMPILER=${CMAKE_C_COMPILER}")
+message("COMPILER_ROOT=${COMPILER_ROOT}")
+message("CMAKE_SYSROOT=${CMAKE_SYSROOT}")
+message("CMAKE_OSX_SYSROOT=${CMAKE_OSX_SYSROOT}")
+message("CMAKE_OSX_DEPLOYMENT_TARGET=${CMAKE_OSX_DEPLOYMENT_TARGET}")
+message("CMAKE_C_FLAGS=${CMAKE_C_FLAGS}")
+message("CMAKE_C_FLAGS_RELEASE=${CMAKE_C_FLAGS_RELEASE}")
+message("CMAKE_C_FLAGS_DEBUG=${CMAKE_C_FLAGS_DEBUG}")
+message("CMAKE_INCLUDE_SYSTEM_FLAG_C=${CMAKE_INCLUDE_SYSTEM_FLAG_C}")
+message("CMAKE_C_OSX_DEPLOYMENT_TARGET_FLAG=${CMAKE_C_OSX_DEPLOYMENT_TARGET_FLAG}")
+
+string(TOUPPER "${CMAKE_BUILD_TYPE}" BUILD_TYPE)
+set(CFLAGS "${CMAKE_C_FLAGS} ${CMAKE_C_FLAGS_${BUILD_TYPE}}")
+if(CMAKE_C_COMPILER_ID STREQUAL "Clang")
+    set(CFLAGS "${CFLAGS} -Wno-error=unused-command-line-argument")
+endif()
+if(CMAKE_C_COMPILER_TARGET AND CMAKE_C_COMPILE_OPTIONS_TARGET)
+    set(CFLAGS "${CFLAGS} ${CMAKE_C_COMPILE_OPTIONS_TARGET}${CMAKE_C_COMPILER_TARGET}")
+endif()
+if(CMAKE_C_COMPILER_EXTERNAL_TOOLCHAIN AND CMAKE_C_COMPILE_OPTIONS_EXTERNAL_TOOLCHAIN)
+    set(CFLAGS "${CFLAGS} ${CMAKE_C_COMPILE_OPTIONS_EXTERNAL_TOOLCHAIN}${CMAKE_C_COMPILER_EXTERNAL_TOOLCHAIN}")
+endif()
+if(CMAKE_SYSROOT AND CMAKE_C_COMPILE_OPTIONS_SYSROOT)
+    set(CFLAGS "${CFLAGS} ${CMAKE_C_COMPILE_OPTIONS_SYSROOT}${CMAKE_SYSROOT}")
+elseif(CMAKE_OSX_SYSROOT AND CMAKE_C_COMPILE_OPTIONS_SYSROOT)
+    set(CFLAGS "${CFLAGS} ${CMAKE_C_COMPILE_OPTIONS_SYSROOT}${CMAKE_OSX_SYSROOT}")
+endif()
+if (CMAKE_OSX_DEPLOYMENT_TARGET AND CMAKE_C_OSX_DEPLOYMENT_TARGET_FLAG)
+  set(CFLAGS "${CFLAGS} ${CMAKE_C_OSX_DEPLOYMENT_TARGET_FLAG}${CMAKE_OSX_DEPLOYMENT_TARGET}")
+elseif((CMAKE_SYSTEM_NAME STREQUAL "Darwin") AND (VCPKG_TARGET_ARCHITECTURE MATCHES "arm64"))
+  set(CFLAGS "${CFLAGS} -mmacosx-version-min=11.0")
+endif()
+
+string(REGEX REPLACE "^ " "" CFLAGS "${CFLAGS}")
+
+if(CMAKE_HOST_WIN32)
+    file(TO_NATIVE_PATH ENV_PATH "${COMPILER_ROOT};$ENV{PATH}")
+else()
+    file(TO_NATIVE_PATH ENV_PATH "${COMPILER_ROOT}:$ENV{PATH}")
+endif()
+set(ENV{ANDROID_DEV} "${CMAKE_SYSROOT}/usr")
+
+if(NOT IOS)
+    set(ENV{CC} "${CMAKE_C_COMPILER}")
+endif()
+
+message("ENV{ANDROID_DEV}=$ENV{ANDROID_DEV}")
+
+get_filename_component(SOURCE_PATH_NAME "${SOURCE_PATH}" NAME)
+set(BUILDDIR "${CMAKE_CURRENT_BINARY_DIR}/${SOURCE_PATH_NAME}")
+
+if(NOT EXISTS "${BUILDDIR}")
+    file(COPY ${SOURCE_PATH} DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
+endif()
+
+get_filename_component(MSYS_BIN_DIR "${MAKE}" DIRECTORY)
+
+if(BUILD_SHARED_LIBS)
+    set(SHARED shared)
+    file(STRINGS "${BUILDDIR}/VERSION.dat" SHLIB_VERSION
+        REGEX "^SHLIB_VERSION=.*")
+    string(REGEX REPLACE "^(SHLIB_VERSION=)(.*)$" "\\2"
+        SHLIB_VERSION "${SHLIB_VERSION}")
+
+    if(CMAKE_SYSTEM_NAME STREQUAL "Darwin" OR CMAKE_SYSTEM_NAME STREQUAL "iOS")
+        set(LIB_EXT dylib)
+        set(LIB_EXTS ${SHLIB_VERSION}.${LIB_EXT})
+    elseif(MINGW)
+        string(REPLACE "." "_" SHLIB_VERSION "${SHLIB_VERSION}")
+        set(BIN_EXT dll)
+        set(LIB_EXT dll.a)
+    else()
+        set(LIB_EXT so)
+        set(LIB_EXTS ${LIB_EXT}.${SHLIB_VERSION})
+    endif()
+    list(APPEND BIN_EXTS ${BIN_EXT})
+    list(APPEND LIB_EXTS ${LIB_EXT})
+else()
+    set(SHARED no-shared)
+    set(LIB_EXTS a)
+endif()
+set(INSTALL_PKG_CONFIGS "${BUILDDIR}/openssl.pc")
+foreach(lib ssl crypto)
+    foreach(ext ${LIB_EXTS})
+        list(APPEND INSTALL_LIBS "${BUILDDIR}/lib${lib}.${ext}")
+        list(APPEND INSTALL_PKG_CONFIGS "${BUILDDIR}/lib${lib}.pc")
+    endforeach()
+    foreach(ext ${BIN_EXTS})
+    # This might be wrong for targets which don't follow this naming scheme, but I'm not aware of any
+        if(CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+            list(APPEND INSTALL_BINS "${BUILDDIR}/lib${lib}-${SHLIB_VERSION}-x64.${ext}")
+        else()
+            list(APPEND INSTALL_BINS "${BUILDDIR}/lib${lib}-${SHLIB_VERSION}.${ext}")
+        endif()
+    endforeach()
+endforeach()
+
+if(CMAKE_HOST_WIN32)
+    set(ENV_COMMAND set)
+    set(PATH_VAR ";%PATH%")
+else()
+    set(ENV_COMMAND export)
+    set(PATH_VAR ":$ENV{PATH}")
+endif()
+
+add_custom_command(
+        OUTPUT "${BUILDDIR}/Makefile"
+        COMMAND ${ENV_COMMAND} "PATH=${MSYS_BIN_DIR}${PATH_VAR}"
+        VERBATIM
+        WORKING_DIRECTORY "${BUILDDIR}"
+)
+
+if(NOT IOS)
+    add_custom_command(
+        OUTPUT "${BUILDDIR}/Makefile"
+        COMMAND ${ENV_COMMAND} CC=${CMAKE_C_COMPILER}
+        COMMAND ${ENV_COMMAND} AR=${CMAKE_AR}
+        COMMAND ${ENV_COMMAND} LD=${CMAKE_LINKER}
+        COMMAND ${ENV_COMMAND} RANLIB=${CMAKE_RANLIB}
+        COMMAND ${ENV_COMMAND} MAKE=${MAKE}
+        COMMAND ${ENV_COMMAND} MAKEDEPPROG=${CMAKE_C_COMPILER}
+        COMMAND ${ENV_COMMAND} WINDRES=${CMAKE_RC_COMPILER}
+        VERBATIM
+        APPEND
+    )
+    if(EMSCRIPTEN)
+        list(APPEND DISABLES
+                threads
+                no-engine
+                no-dso
+                no-asm
+                no-shared
+                no-sse2
+                no-srtp
+                )
+    else()
+        list(APPEND DISABLES
+                enable-static-engine
+                no-zlib
+                no-ssl2
+                no-idea
+                no-cast
+                no-seed
+                no-md2
+                no-tests)
+    endif()
+endif()
+
+if(EMSCRIPTEN)
+    add_custom_command(
+            OUTPUT "${BUILDDIR}/Makefile"
+            COMMAND "$ENV{EMSDK}/upstream/emscripten/emconfigure" ./config
+            ${SHARED}
+            ${DISABLES}
+            "--prefix=${CMAKE_INSTALL_PREFIX}"
+            "--openssldir=/etc/ssl"
+            "--cross-compile-prefix=\"/\""
+            VERBATIM
+            APPEND
+    )
+
+    add_custom_target(build_libs ALL
+            COMMAND ${ENV_COMMAND} "PATH=${MSYS_BIN_DIR}${PATH_VAR}"
+            COMMAND "${CMAKE_COMMAND}" -E touch "${BUILDDIR}/krb5.h"
+            COMMAND "${MAKE}" make build_libs
+            VERBATIM
+            WORKING_DIRECTORY "${BUILDDIR}"
+            DEPENDS "${BUILDDIR}/Makefile"
+            BYPRODUCTS ${INSTALL_LIBS}
+            )
+else()
+    add_custom_command(
+            OUTPUT "${BUILDDIR}/Makefile"
+            COMMAND "${PERL}" Configure
+            ${SHARED}
+            ${DISABLES}
+            ${PLATFORM}
+            "--prefix=${CMAKE_INSTALL_PREFIX}"
+            "--openssldir=/etc/ssl"
+            ${CFLAGS}
+            VERBATIM
+            APPEND
+    )
+
+    add_custom_target(build_libs ALL
+            COMMAND ${ENV_COMMAND} "PATH=${MSYS_BIN_DIR}${PATH_VAR}"
+            COMMAND "${CMAKE_COMMAND}" -E touch "${BUILDDIR}/krb5.h"
+            COMMAND "${MAKE}" -j ${VCPKG_CONCURRENCY} build_libs
+            VERBATIM
+            WORKING_DIRECTORY "${BUILDDIR}"
+            DEPENDS "${BUILDDIR}/Makefile"
+            BYPRODUCTS ${INSTALL_LIBS}
+            )
+endif()
+
+add_custom_command(
+        OUTPUT "${BUILDDIR}/Makefile"
+        COMMAND "${CMAKE_COMMAND}" "-DDIR=${BUILDDIR}" -P "${CMAKE_CURRENT_LIST_DIR}/remove-deps.cmake"
+        VERBATIM
+        APPEND
+)
+
+if((CMAKE_SYSTEM_NAME STREQUAL "Darwin" OR CMAKE_SYSTEM_NAME STREQUAL "iOS") AND BUILD_SHARED_LIBS)
+    if(DEFINED CMAKE_INSTALL_NAME_DIR)
+        set(ID_PREFIX "${CMAKE_INSTALL_NAME_DIR}")
+    else()
+        set(ID_PREFIX "@rpath")
+    endif()
+
+    add_custom_command(
+        TARGET build_libs
+        COMMAND /usr/bin/install_name_tool -id "${ID_PREFIX}/libssl.${SHLIB_VERSION}.dylib"
+                                               "${BUILDDIR}/libssl.${SHLIB_VERSION}.dylib"
+        COMMAND /usr/bin/install_name_tool -id "${ID_PREFIX}/libcrypto.${SHLIB_VERSION}.dylib"
+                                               "${BUILDDIR}/libcrypto.1.1.dylib"
+        COMMAND /usr/bin/install_name_tool -change "${CMAKE_INSTALL_PREFIX}/lib/libcrypto.${SHLIB_VERSION}.dylib"
+                                                   "${ID_PREFIX}/libcrypto.${SHLIB_VERSION}.dylib"
+                                                   "${BUILDDIR}/libssl.${SHLIB_VERSION}.dylib"
+        VERBATIM
+    )
+endif()
+
+install(
+    FILES ${INSTALL_LIBS}
+    DESTINATION lib
+)
+install(
+    FILES ${INSTALL_BINS}
+    DESTINATION bin
+)
+install(
+    FILES ${INSTALL_PKG_CONFIGS}
+    DESTINATION lib/pkgconfig
+)

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

@@ -0,0 +1,38 @@
+vcpkg_extract_source_archive_ex(
+    OUT_SOURCE_PATH MASTER_COPY_SOURCE_PATH
+    ARCHIVE "${ARCHIVE}"
+    REF ${OPENSSL_VERSION}
+)
+
+if(CMAKE_HOST_WIN32)
+    vcpkg_acquire_msys(MSYS_ROOT PACKAGES make perl)
+    set(MAKE "${MSYS_ROOT}/usr/bin/make.exe")
+    set(PERL "${MSYS_ROOT}/usr/bin/perl.exe")
+else()
+    find_program(MAKE make)
+    if(NOT MAKE)
+        message(FATAL_ERROR "Could not find make. Please install it through your package manager.")
+    endif()
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${CMAKE_CURRENT_LIST_DIR}"
+    OPTIONS
+        -DSOURCE_PATH=${MASTER_COPY_SOURCE_PATH}
+        -DPERL=${PERL}
+        -DMAKE=${MAKE}
+        -DVCPKG_CONCURRENCY=${VCPKG_CONCURRENCY}
+)
+
+vcpkg_cmake_install()
+vcpkg_fixup_pkgconfig()
+
+file(GLOB HEADERS "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel/*/include/openssl/*.h")
+set(RESOLVED_HEADERS)
+foreach(HEADER ${HEADERS})
+    get_filename_component(X "${HEADER}" REALPATH)
+    list(APPEND RESOLVED_HEADERS "${X}")
+endforeach()
+
+file(INSTALL ${RESOLVED_HEADERS} DESTINATION "${CURRENT_PACKAGES_DIR}/include/openssl")
+file(INSTALL "${MASTER_COPY_SOURCE_PATH}/LICENSE.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openssl/unix/remove-deps.cmake

@@ -0,0 +1,7 @@
+file(GLOB_RECURSE MAKEFILES ${DIR}/*/Makefile)
+foreach(MAKEFILE ${MAKEFILES})
+    message("removing deps from ${MAKEFILE}")
+    file(READ "${MAKEFILE}" _contents)
+    string(REGEX REPLACE "\n# DO NOT DELETE THIS LINE.*" "" _contents "${_contents}")
+    file(WRITE "${MAKEFILE}" "${_contents}")
+endforeach()

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

@@ -0,0 +1,4 @@
+The package openssl is compatible with built-in CMake targets:
+
+    find_package(OpenSSL REQUIRED)
+    target_link_libraries(main PRIVATE OpenSSL::SSL OpenSSL::Crypto)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/openssl/uwp/make-openssl.bat

@@ -0,0 +1,16 @@
+set build=%1
+
+perl Configure no-asm no-hw no-dso VC-WINUNIVERSAL -FS -FIWindows.h
+
+for /D %%f in ("%WindowsSdkDir%References\%WindowsSDKLibVersion%Windows.Foundation.FoundationContract\*") do set LibPath=%LibPath%;%%f\
+for /D %%f in ("%WindowsSdkDir%References\%WindowsSDKLibVersion%Windows.Foundation.UniversalApiContract\*") do set LibPath=%LibPath%;%%f\
+for /D %%f in ("%WindowsSdkDir%References\Windows.Foundation.FoundationContract\*") do set LibPath=%LibPath%;%%f\
+for /D %%f in ("%WindowsSdkDir%References\Windows.Foundation.UniversalApiContract\*") do set LibPath=%LibPath%;%%f\
+
+call ms\do_winuniversal.bat
+
+mkdir inc32\openssl
+
+jom -j %NUMBER_OF_PROCESSORS% -k -f ms\ntdll.mak
+REM due to a race condition in the build, we need to have a second single-threaded pass.
+nmake -f ms\ntdll.mak

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

@@ -0,0 +1,160 @@
+vcpkg_find_acquire_program(JOM)
+get_filename_component(JOM_EXE_PATH ${JOM} DIRECTORY)
+vcpkg_add_to_path("${PERL_EXE_PATH}")
+
+set(OPENSSL_SHARED no-shared)
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "dynamic")
+    set(OPENSSL_SHARED shared)
+endif()
+
+vcpkg_extract_source_archive_ex(
+  OUT_SOURCE_PATH SOURCE_PATH
+  ARCHIVE ${ARCHIVE}
+)
+
+vcpkg_find_acquire_program(NASM)
+get_filename_component(NASM_EXE_PATH ${NASM} DIRECTORY)
+vcpkg_add_to_path(PREPEND "${NASM_EXE_PATH}")
+
+set(CONFIGURE_COMMAND ${PERL} Configure
+    enable-static-engine
+    enable-capieng
+    no-unit-test
+    no-ssl2
+    no-asm
+    no-uplink
+    no-tests
+    -utf-8
+    ${OPENSSL_SHARED}
+)
+
+if(VCPKG_TARGET_ARCHITECTURE STREQUAL "x86")
+    set(OPENSSL_ARCH VC-WIN32-UWP)
+elseif(VCPKG_TARGET_ARCHITECTURE STREQUAL "x64")
+    set(OPENSSL_ARCH VC-WIN64A-UWP)
+elseif(VCPKG_TARGET_ARCHITECTURE STREQUAL "arm")
+    set(OPENSSL_ARCH VC-WIN32-ARM-UWP)
+elseif(VCPKG_TARGET_ARCHITECTURE STREQUAL "arm64")
+    set(OPENSSL_ARCH VC-WIN64-ARM-UWP)
+else()
+    message(FATAL_ERROR "Unsupported target architecture: ${VCPKG_TARGET_ARCHITECTURE}")
+endif()
+
+set(OPENSSL_MAKEFILE "makefile")
+
+file(REMOVE_RECURSE "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel" "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg")
+
+if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+
+    # Copy openssl sources.
+    message(STATUS "Copying openssl release source files...")
+    file(GLOB OPENSSL_SOURCE_FILES "${SOURCE_PATH}/*")
+    foreach(SOURCE_FILE ${OPENSSL_SOURCE_FILES})
+        file(COPY ${SOURCE_FILE} DESTINATION "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel")
+    endforeach()
+    message(STATUS "Copying openssl release source files... done")
+    set(SOURCE_PATH_RELEASE "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel")
+
+    set(OPENSSLDIR_RELEASE "${CURRENT_PACKAGES_DIR}")
+
+    message(STATUS "Configure ${TARGET_TRIPLET}-rel")
+    vcpkg_execute_required_process(
+        COMMAND ${CONFIGURE_COMMAND} ${OPENSSL_ARCH} "--prefix=${OPENSSLDIR_RELEASE}" "--openssldir=${OPENSSLDIR_RELEASE}" -FS
+        WORKING_DIRECTORY "${SOURCE_PATH_RELEASE}"
+        LOGNAME configure-perl-${TARGET_TRIPLET}-${VCPKG_BUILD_TYPE}-rel
+    )
+    message(STATUS "Configure ${TARGET_TRIPLET}-rel done")
+
+    message(STATUS "Build ${TARGET_TRIPLET}-rel")
+    # Openssl's buildsystem has a race condition which will cause JOM to fail at some point.
+    # This is ok; we just do as much work as we can in parallel first, then follow up with a single-threaded build.
+    make_directory("${SOURCE_PATH_RELEASE}/inc32/openssl")
+    execute_process(
+        COMMAND "${JOM}" -k -j ${VCPKG_CONCURRENCY} -f "${OPENSSL_MAKEFILE}" build_libs
+        WORKING_DIRECTORY "${SOURCE_PATH_RELEASE}"
+        OUTPUT_FILE "${CURRENT_BUILDTREES_DIR}/build-${TARGET_TRIPLET}-rel-0-out.log"
+        ERROR_FILE "${CURRENT_BUILDTREES_DIR}/build-${TARGET_TRIPLET}-rel-0-err.log"
+    )
+    vcpkg_execute_required_process(
+        COMMAND nmake -f "${OPENSSL_MAKEFILE}" install_dev
+        WORKING_DIRECTORY "${SOURCE_PATH_RELEASE}"
+        LOGNAME build-${TARGET_TRIPLET}-rel-1)
+
+    message(STATUS "Build ${TARGET_TRIPLET}-rel done")
+endif()
+
+
+if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+    # Copy openssl sources.
+    message(STATUS "Copying openssl debug source files...")
+    file(GLOB OPENSSL_SOURCE_FILES ${SOURCE_PATH}/*)
+    foreach(SOURCE_FILE ${OPENSSL_SOURCE_FILES})
+        file(COPY "${SOURCE_FILE}" DESTINATION "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg")
+    endforeach()
+    message(STATUS "Copying openssl debug source files... done")
+    set(SOURCE_PATH_DEBUG "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg")
+
+    set(OPENSSLDIR_DEBUG "${CURRENT_PACKAGES_DIR}/debug")
+
+    message(STATUS "Configure ${TARGET_TRIPLET}-dbg")
+    vcpkg_execute_required_process(
+        COMMAND ${CONFIGURE_COMMAND} debug-${OPENSSL_ARCH} "--prefix=${OPENSSLDIR_DEBUG}" "--openssldir=${OPENSSLDIR_DEBUG}" -FS
+        WORKING_DIRECTORY "${SOURCE_PATH_DEBUG}"
+        LOGNAME configure-perl-${TARGET_TRIPLET}-${VCPKG_BUILD_TYPE}-dbg
+    )
+    message(STATUS "Configure ${TARGET_TRIPLET}-dbg done")
+
+    message(STATUS "Build ${TARGET_TRIPLET}-dbg")
+    make_directory("${SOURCE_PATH_DEBUG}/inc32/openssl")
+    execute_process(
+        COMMAND "${JOM}" -k -j ${VCPKG_CONCURRENCY} -f "${OPENSSL_MAKEFILE}" build_libs
+        WORKING_DIRECTORY "${SOURCE_PATH_DEBUG}"
+        OUTPUT_FILE "${CURRENT_BUILDTREES_DIR}/build-${TARGET_TRIPLET}-dbg-0-out.log"
+        ERROR_FILE "${CURRENT_BUILDTREES_DIR}/build-${TARGET_TRIPLET}-dbg-0-err.log"
+    )
+    vcpkg_execute_required_process(
+        COMMAND nmake -f "${OPENSSL_MAKEFILE}" install_dev
+        WORKING_DIRECTORY "${SOURCE_PATH_DEBUG}"
+        LOGNAME build-${TARGET_TRIPLET}-dbg-1)
+
+    message(STATUS "Build ${TARGET_TRIPLET}-dbg done")
+endif()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/certs")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/private")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/lib/engines-1_1")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/certs")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/lib/engines-1_1")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/private")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+file(REMOVE
+    "${CURRENT_PACKAGES_DIR}/bin/openssl.exe"
+    "${CURRENT_PACKAGES_DIR}/debug/bin/openssl.exe"
+    "${CURRENT_PACKAGES_DIR}/debug/openssl.cnf"
+    "${CURRENT_PACKAGES_DIR}/openssl.cnf"
+    "${CURRENT_PACKAGES_DIR}/ct_log_list.cnf"
+    "${CURRENT_PACKAGES_DIR}/ct_log_list.cnf.dist"
+    "${CURRENT_PACKAGES_DIR}/openssl.cnf.dist"
+    "${CURRENT_PACKAGES_DIR}/debug/ct_log_list.cnf"
+    "${CURRENT_PACKAGES_DIR}/debug/ct_log_list.cnf.dist"
+    "${CURRENT_PACKAGES_DIR}/debug/openssl.cnf.dist"
+)
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    # They should be empty, only the exes deleted above were in these directories
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/bin/")
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin/")
+endif()
+
+file(READ "${CURRENT_PACKAGES_DIR}/include/openssl/dtls1.h" _contents)
+string(REPLACE "<winsock.h>" "<winsock2.h>" _contents "${_contents}")
+file(WRITE "${CURRENT_PACKAGES_DIR}/include/openssl/dtls1.h" "${_contents}")
+
+file(READ "${CURRENT_PACKAGES_DIR}/include/openssl/rand.h" _contents)
+string(REPLACE "#  include <windows.h>" "#ifndef _WINSOCKAPI_\n#define _WINSOCKAPI_\n#endif\n#  include <windows.h>" _contents "${_contents}")
+file(WRITE "${CURRENT_PACKAGES_DIR}/include/openssl/rand.h" "${_contents}")
+
+vcpkg_copy_pdbs()
+
+file(INSTALL "${SOURCE_PATH}/LICENSE.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,82 @@
+cmake_policy(PUSH)
+cmake_policy(SET CMP0012 NEW)
+cmake_policy(SET CMP0054 NEW)
+cmake_policy(SET CMP0057 NEW)
+
+set(OPENSSL_VERSION_MAJOR 3)
+set(OPENSSL_VERSION_MINOR 0)
+set(OPENSSL_VERSION_FIX 2)
+
+if(OPENSSL_USE_STATIC_LIBS)
+    if("@VCPKG_LIBRARY_LINKAGE@" STREQUAL "dynamic")
+        message(WARNING "OPENSSL_USE_STATIC_LIBS is set, but vcpkg port openssl was built with dynamic linkage")
+    endif()
+    set(OPENSSL_USE_STATIC_LIBS_BAK "${OPENSSL_USE_STATIC_LIBS}")
+    set(OPENSSL_USE_STATIC_LIBS FALSE)
+endif()
+
+if(DEFINED OPENSSL_ROOT_DIR)
+    set(OPENSSL_ROOT_DIR_BAK "${OPENSSL_ROOT_DIR}")
+endif()
+get_filename_component(OPENSSL_ROOT_DIR "${CMAKE_CURRENT_LIST_DIR}" DIRECTORY)
+get_filename_component(OPENSSL_ROOT_DIR "${OPENSSL_ROOT_DIR}" DIRECTORY)
+find_path(OPENSSL_INCLUDE_DIR NAMES openssl/ssl.h PATH "${OPENSSL_ROOT_DIR}/include" NO_DEFAULT_PATH)
+if(MSVC)
+    find_library(LIB_EAY_DEBUG NAMES libcrypto PATHS "${OPENSSL_ROOT_DIR}/debug/lib" NO_DEFAULT_PATH)
+    find_library(LIB_EAY_RELEASE NAMES libcrypto PATHS "${OPENSSL_ROOT_DIR}/lib" NO_DEFAULT_PATH)
+    find_library(SSL_EAY_DEBUG NAMES libssl PATHS "${OPENSSL_ROOT_DIR}/debug/lib" NO_DEFAULT_PATH)
+    find_library(SSL_EAY_RELEASE NAMES libssl PATHS "${OPENSSL_ROOT_DIR}/lib" NO_DEFAULT_PATH)
+elseif(WIN32)
+    find_library(LIB_EAY NAMES libcrypto crypto NAMES_PER_DIR)
+    find_library(SSL_EAY NAMES libssl ssl NAMES_PER_DIR)
+else()
+    find_library(OPENSSL_CRYPTO_LIBRARY NAMES crypto)
+    find_library(OPENSSL_SSL_LIBRARY NAMES ssl)
+endif()
+
+_find_package(${ARGS})
+
+unset(OPENSSL_ROOT_DIR)
+if(DEFINED OPENSSL_ROOT_DIR_BAK)
+    set(OPENSSL_ROOT_DIR "${OPENSSL_ROOT_DIR_BAK}")
+    unset(OPENSSL_ROOT_DIR_BAK)
+endif()
+
+if(DEFINED OPENSSL_USE_STATIC_LIBS_BAK)
+    set(OPENSSL_USE_STATIC_LIBS "${OPENSSL_USE_STATIC_LIBS_BAK}")
+    unset(OPENSSL_USE_STATIC_LIBS_BAK)
+endif()
+
+if(OPENSSL_FOUND AND "@VCPKG_LIBRARY_LINKAGE@" STREQUAL "static")
+    if(WIN32)
+        list(APPEND OPENSSL_LIBRARIES crypt32 ws2_32)
+        if(TARGET OpenSSL::Crypto)
+            set_property(TARGET OpenSSL::Crypto APPEND PROPERTY INTERFACE_LINK_LIBRARIES "crypt32;ws2_32")
+        endif()
+        if(TARGET OpenSSL::SSL)
+            set_property(TARGET OpenSSL::SSL APPEND PROPERTY INTERFACE_LINK_LIBRARIES "crypt32;ws2_32")
+        endif()
+    else()
+        find_library(OPENSSL_DL_LIBRARY NAMES dl)
+        if(OPENSSL_DL_LIBRARY)
+            list(APPEND OPENSSL_LIBRARIES "dl")
+            if(TARGET OpenSSL::Crypto)
+                set_property(TARGET OpenSSL::Crypto APPEND PROPERTY INTERFACE_LINK_LIBRARIES "dl")
+            endif()
+        endif()
+
+        if("REQUIRED" IN_LIST ARGS)
+           find_package(Threads REQUIRED)
+        else()
+           find_package(Threads)
+        endif()
+        list(APPEND OPENSSL_LIBRARIES ${CMAKE_THREAD_LIBS_INIT})
+        if(TARGET OpenSSL::Crypto)
+            set_property(TARGET OpenSSL::Crypto APPEND PROPERTY INTERFACE_LINK_LIBRARIES "Threads::Threads")
+        endif()
+        if(TARGET OpenSSL::SSL)
+            set_property(TARGET OpenSSL::SSL APPEND PROPERTY INTERFACE_LINK_LIBRARIES "Threads::Threads")
+        endif()
+    endif()
+endif()
+cmake_policy(POP)

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

@@ -0,0 +1,18 @@
+{
+  "name": "openssl",
+  "version": "3.0.2",
+  "port-version": 2,
+  "description": "OpenSSL is an open source project that provides a robust, commercial-grade, and full-featured toolkit for the Transport Layer Security (TLS) and Secure Sockets Layer (SSL) protocols. It is also a general-purpose cryptography library.",
+  "homepage": "https://www.openssl.org",
+  "license": "Apache-2.0",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

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

@@ -0,0 +1,185 @@
+vcpkg_extract_source_archive_ex(
+    OUT_SOURCE_PATH SOURCE_PATH
+    ARCHIVE ${ARCHIVE}
+)
+
+vcpkg_find_acquire_program(NASM)
+get_filename_component(NASM_EXE_PATH "${NASM}" DIRECTORY)
+vcpkg_add_to_path(PREPEND "${NASM_EXE_PATH}")
+
+vcpkg_find_acquire_program(JOM)
+
+set(OPENSSL_SHARED no-shared)
+if(VCPKG_LIBRARY_LINKAGE STREQUAL dynamic)
+    set(OPENSSL_SHARED shared)
+endif()
+
+set(CONFIGURE_OPTIONS
+    enable-static-engine
+    enable-capieng
+    no-ssl2
+    no-tests
+    -utf-8
+    ${OPENSSL_SHARED}
+)
+
+if(DEFINED OPENSSL_USE_NOPINSHARED)
+    set(CONFIGURE_OPTIONS ${CONFIGURE_OPTIONS} no-pinshared)
+endif()
+
+if(OPENSSL_NO_AUTOLOAD_CONFIG)
+    set(CONFIGURE_OPTIONS ${CONFIGURE_OPTIONS} no-autoload-config)
+endif()
+
+set(CONFIGURE_COMMAND "${PERL}" Configure ${CONFIGURE_OPTIONS})
+
+if(VCPKG_TARGET_ARCHITECTURE STREQUAL "x86")
+    set(OPENSSL_ARCH VC-WIN32)
+elseif(VCPKG_TARGET_ARCHITECTURE STREQUAL "x64")
+    set(OPENSSL_ARCH VC-WIN64A)
+elseif(VCPKG_TARGET_ARCHITECTURE STREQUAL "arm")
+    set(OPENSSL_ARCH VC-WIN32-ARM)
+elseif(VCPKG_TARGET_ARCHITECTURE STREQUAL "arm64")
+    set(OPENSSL_ARCH VC-WIN64-ARM)
+else()
+    message(FATAL_ERROR "Unsupported target architecture: ${VCPKG_TARGET_ARCHITECTURE}")
+endif()
+
+set(OPENSSL_MAKEFILE "makefile")
+
+file(REMOVE_RECURSE "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel"
+                    "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg")
+
+if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+
+    # Copy openssl sources.
+    message(STATUS "Copying openssl release source files...")
+    file(GLOB OPENSSL_SOURCE_FILES ${SOURCE_PATH}/*)
+    foreach(SOURCE_FILE ${OPENSSL_SOURCE_FILES})
+        file(COPY ${SOURCE_FILE} DESTINATION "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel")
+    endforeach()
+    message(STATUS "Copying openssl release source files... done")
+    set(SOURCE_PATH_RELEASE "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-rel")
+
+    set(OPENSSLDIR_RELEASE ${CURRENT_PACKAGES_DIR})
+
+    message(STATUS "Configure ${TARGET_TRIPLET}-rel")
+    vcpkg_execute_required_process(
+        COMMAND ${CONFIGURE_COMMAND} ${OPENSSL_ARCH} "--prefix=${OPENSSLDIR_RELEASE}" "--openssldir=${OPENSSLDIR_RELEASE}" -FS
+        WORKING_DIRECTORY ${SOURCE_PATH_RELEASE}
+        LOGNAME configure-perl-${TARGET_TRIPLET}-rel
+    )
+    message(STATUS "Configure ${TARGET_TRIPLET}-rel done")
+
+    message(STATUS "Build ${TARGET_TRIPLET}-rel")
+    # Openssl's buildsystem has a race condition which will cause JOM to fail at some point.
+    # This is ok; we just do as much work as we can in parallel first, then follow up with a single-threaded build.
+    make_directory(${SOURCE_PATH_RELEASE}/inc32/openssl)
+    execute_process(
+        COMMAND "${JOM}" -k -j "${VCPKG_CONCURRENCY}" -f "${OPENSSL_MAKEFILE}"
+        WORKING_DIRECTORY ${SOURCE_PATH_RELEASE}
+        OUTPUT_FILE "${CURRENT_BUILDTREES_DIR}/build-${TARGET_TRIPLET}-rel-0-out.log"
+        ERROR_FILE "${CURRENT_BUILDTREES_DIR}/build-${TARGET_TRIPLET}-rel-0-err.log"
+    )
+    vcpkg_execute_required_process(
+        COMMAND "${JOM}" -j 1 -f "${OPENSSL_MAKEFILE}" install_sw install_ssldirs
+        WORKING_DIRECTORY ${SOURCE_PATH_RELEASE}
+        LOGNAME build-${TARGET_TRIPLET}-rel-1)
+
+    message(STATUS "Build ${TARGET_TRIPLET}-rel done")
+endif()
+
+
+if(NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+    # Copy openssl sources.
+    message(STATUS "Copying openssl debug source files...")
+    file(GLOB OPENSSL_SOURCE_FILES ${SOURCE_PATH}/*)
+    foreach(SOURCE_FILE ${OPENSSL_SOURCE_FILES})
+        file(COPY ${SOURCE_FILE} DESTINATION "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg")
+    endforeach()
+    message(STATUS "Copying openssl debug source files... done")
+    set(SOURCE_PATH_DEBUG "${CURRENT_BUILDTREES_DIR}/${TARGET_TRIPLET}-dbg")
+
+    set(OPENSSLDIR_DEBUG ${CURRENT_PACKAGES_DIR}/debug)
+
+    message(STATUS "Configure ${TARGET_TRIPLET}-dbg")
+    vcpkg_execute_required_process(
+        COMMAND ${CONFIGURE_COMMAND} debug-${OPENSSL_ARCH} "--prefix=${OPENSSLDIR_DEBUG}" "--openssldir=${OPENSSLDIR_DEBUG}" -FS
+        WORKING_DIRECTORY ${SOURCE_PATH_DEBUG}
+        LOGNAME configure-perl-${TARGET_TRIPLET}-dbg
+    )
+    message(STATUS "Configure ${TARGET_TRIPLET}-dbg done")
+
+    message(STATUS "Build ${TARGET_TRIPLET}-dbg")
+    make_directory("${SOURCE_PATH_DEBUG}/inc32/openssl")
+    execute_process(
+        COMMAND "${JOM}" -k -j "${VCPKG_CONCURRENCY}" -f "${OPENSSL_MAKEFILE}"
+        WORKING_DIRECTORY ${SOURCE_PATH_DEBUG}
+        OUTPUT_FILE "${CURRENT_BUILDTREES_DIR}/build-${TARGET_TRIPLET}-dbg-0-out.log"
+        ERROR_FILE "${CURRENT_BUILDTREES_DIR}/build-${TARGET_TRIPLET}-dbg-0-err.log"
+    )
+    vcpkg_execute_required_process(
+        COMMAND "${JOM}" -j 1 -f "${OPENSSL_MAKEFILE}" install_sw install_ssldirs
+        WORKING_DIRECTORY ${SOURCE_PATH_DEBUG}
+        LOGNAME build-${TARGET_TRIPLET}-dbg-1)
+
+        message(STATUS "Build ${TARGET_TRIPLET}-dbg done")
+
+        file(RENAME "${CURRENT_PACKAGES_DIR}/debug/lib/ossl-modules/legacy.pdb" "${CURRENT_PACKAGES_DIR}/debug/bin/legacy.pdb")
+        file(RENAME "${CURRENT_PACKAGES_DIR}/lib/ossl-modules/legacy.pdb" "${CURRENT_PACKAGES_DIR}/bin/legacy.pdb")
+endif()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/certs")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/private")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/lib/engines-1_1")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/lib/engines-3")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/certs")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/lib/engines-1_1")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/lib/engines-3")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/private")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+if(NOT VCPKG_BUILD_TYPE)
+    file(RENAME "${CURRENT_PACKAGES_DIR}/debug/lib/ossl-modules/legacy.dll" "${CURRENT_PACKAGES_DIR}/debug/bin/legacy.dll")
+endif()
+file(RENAME "${CURRENT_PACKAGES_DIR}/lib/ossl-modules/legacy.dll" "${CURRENT_PACKAGES_DIR}/bin/legacy.dll")
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/lib/ossl-modules")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/lib/ossl-modules")
+
+file(REMOVE
+    "${CURRENT_PACKAGES_DIR}/ct_log_list.cnf"
+    "${CURRENT_PACKAGES_DIR}/ct_log_list.cnf.dist"
+    "${CURRENT_PACKAGES_DIR}/openssl.cnf.dist"
+    "${CURRENT_PACKAGES_DIR}/debug/bin/openssl.exe"
+    "${CURRENT_PACKAGES_DIR}/debug/ct_log_list.cnf"
+    "${CURRENT_PACKAGES_DIR}/debug/ct_log_list.cnf.dist"
+    "${CURRENT_PACKAGES_DIR}/debug/openssl.cnf"
+    "${CURRENT_PACKAGES_DIR}/debug/openssl.cnf.dist"
+)
+
+file(MAKE_DIRECTORY "${CURRENT_PACKAGES_DIR}/tools/openssl/")
+file(RENAME "${CURRENT_PACKAGES_DIR}/bin/openssl.exe" "${CURRENT_PACKAGES_DIR}/tools/openssl/openssl.exe")
+file(RENAME "${CURRENT_PACKAGES_DIR}/openssl.cnf" "${CURRENT_PACKAGES_DIR}/tools/openssl/openssl.cnf")
+
+vcpkg_copy_tool_dependencies("${CURRENT_PACKAGES_DIR}/tools/openssl")
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    # They should be empty, only the exes deleted above were in these directories
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/bin/")
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin/")
+endif()
+
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/openssl/dtls1.h"
+    "<winsock.h>"
+    "<winsock2.h>"
+)
+
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/openssl/rand.h"
+    "#  include <windows.h>"
+    "#ifndef _WINSOCKAPI_\n#define _WINSOCKAPI_\n#endif\n#  include <windows.h>"
+)
+
+vcpkg_copy_pdbs()
+
+file(INSTALL "${SOURCE_PATH}/LICENSE.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,20 @@
+diff --git a/opensubdiv/CMakeLists.txt b/opensubdiv/CMakeLists.txt
+index 72c5b7e..ca24488 100644
+--- a/opensubdiv/CMakeLists.txt
++++ b/opensubdiv/CMakeLists.txt
+@@ -124,6 +124,7 @@ if (NOT NO_LIB)
+ 
+     #---------------------------------------------------------------------------
+ 
++    if (NOT BUILD_SHARED_LIBS)
+     # Build static libs ------------------------------------
+     add_library(osd_static_cpu
+         STATIC
+@@ -146,6 +147,7 @@ if (NOT NO_LIB)
+     )
+ 
+     install( TARGETS osd_static_cpu DESTINATION "${CMAKE_LIBDIR_BASE}" )
++    endif()
+ 
+     if( OSD_GPU )
+         # this macro uses FindCUDA.cmake to compile .cu kernel files

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opensubdiv/fix-dependencies.patch

@@ -0,0 +1,146 @@
+diff --git a/cmake/FindDXSDK.cmake b/cmake/FindDXSDK.cmake
+index a396d97..edd06db 100644
+--- a/cmake/FindDXSDK.cmake
++++ b/cmake/FindDXSDK.cmake
+@@ -48,15 +48,8 @@ if (WIN32)
+             "C:/Program Files/Microsoft DirectX SDK*/Include"
+     )
+ 
+-    if ("${CMAKE_GENERATOR}" MATCHES "[Ww]in64" OR
+-        "${CMAKE_GENERATOR_PLATFORM}" MATCHES "x64")
+-        set(ARCH x64)
+-    else()
+-        set(ARCH x86)
+-    endif()
+-
+     find_path(LIBRARY_DIR
+-            d3d11.lib
++            d3dx11.lib
+         PATHS
+             "${DXSDK_LOCATION}/Lib/${ARCH}"
+             "$ENV{DXSDK_LOCATION}/Lib/${ARCH}"
+@@ -70,7 +63,7 @@ if (WIN32)
+ 
+     set(DXSDK_LIBRARY_DIR ${LIBRARY_DIR})
+ 
+-    foreach(DX_LIB d3d11 d3dcompiler)
++    foreach(DX_LIB d3dx11 d3dcompiler)
+ 
+         find_library(DXSDK_${DX_LIB}_LIBRARY
+             NAMES 
+diff --git a/cmake/FindTBB.cmake b/cmake/FindTBB.cmake
+index 2f4efd3..5f4f85b 100644
+--- a/cmake/FindTBB.cmake
++++ b/cmake/FindTBB.cmake
+@@ -30,6 +30,10 @@
+ #  TBB_LIBRARIES - The libraries needed to use TBB
+ 
+ # Obtain include directory
++find_package(TBB CONFIG REQUIRED)
++set(TBB_FOUND 1)
++set(TBB_LIBRARIES TBB::tbb)
++if (0)
+ if (WIN32)
+     find_path(TBB_INCLUDE_DIR
+         NAMES
+@@ -180,4 +184,4 @@ mark_as_advanced(
+   TBB_INCLUDE_DIR
+   TBB_LIBRARIES
+ )
+-
++endif()
+diff --git a/examples/dxPtexViewer/CMakeLists.txt b/examples/dxPtexViewer/CMakeLists.txt
+index 2743423..81c8806 100644
+--- a/examples/dxPtexViewer/CMakeLists.txt
++++ b/examples/dxPtexViewer/CMakeLists.txt
+@@ -36,6 +36,19 @@ set(PLATFORM_LIBRARIES
+     "${ZLIB_LIBRARY}"
+ )
+ 
++if (OPENCL_FOUND)
++    list(APPEND PLATFORM_LIBRARIES
++        Opengl32
++        Cfgmgr32
++    )
++endif()
++
++if (DXSDK_FOUND)
++    list(APPEND PLATFORM_LIBRARIES
++        D3D11
++    )
++endif()
++
+ include_directories(
+     "${OPENSUBDIV_INCLUDE_DIR}"
+     "${DXSDK_INCLUDE_DIR}"
+diff --git a/examples/dxViewer/CMakeLists.txt b/examples/dxViewer/CMakeLists.txt
+index 245ecbd..83b39b8 100644
+--- a/examples/dxViewer/CMakeLists.txt
++++ b/examples/dxViewer/CMakeLists.txt
+@@ -33,6 +33,19 @@ set(PLATFORM_LIBRARIES
+     "${DXSDK_LIBRARIES}"
+ )
+ 
++if (OPENCL_FOUND)
++    list(APPEND PLATFORM_LIBRARIES
++        Opengl32
++        Cfgmgr32
++    )
++endif()
++
++if (DXSDK_FOUND)
++    list(APPEND PLATFORM_LIBRARIES
++        D3D11
++    )
++endif()
++
+ include_directories(
+     "${OPENSUBDIV_INCLUDE_DIR}"
+     "${DXSDK_INCLUDE_DIR}"
+diff --git a/examples/glEvalLimit/CMakeLists.txt b/examples/glEvalLimit/CMakeLists.txt
+index 1a71f72..8eaaccb 100644
+--- a/examples/glEvalLimit/CMakeLists.txt
++++ b/examples/glEvalLimit/CMakeLists.txt
+@@ -41,7 +41,6 @@ if( OPENCL_FOUND )
+ endif()
+ 
+ if( TBB_FOUND )
+-    include_directories("${TBB_INCLUDE_DIR}")
+     list(APPEND PLATFORM_LIBRARIES
+         "${TBB_LIBRARIES}"
+     )
+diff --git a/opensubdiv/CMakeLists.txt b/opensubdiv/CMakeLists.txt
+index adb0191..0f90a37 100644
+--- a/opensubdiv/CMakeLists.txt
++++ b/opensubdiv/CMakeLists.txt
+@@ -49,7 +49,6 @@ if (NOT NO_LIB)
+     endif()
+ 
+     if( TBB_FOUND )
+-        include_directories("${TBB_INCLUDE_DIR}")
+         list(APPEND PLATFORM_CPU_LIBRARIES
+             ${TBB_LIBRARIES}
+         )
+diff --git a/opensubdiv/osd/CMakeLists.txt b/opensubdiv/osd/CMakeLists.txt
+index 75f64b6..90d5ea2 100644
+--- a/opensubdiv/osd/CMakeLists.txt
++++ b/opensubdiv/osd/CMakeLists.txt
+@@ -88,7 +88,6 @@ set(TBB_PUBLIC_HEADERS
+ )
+ 
+ if( TBB_FOUND )
+-    include_directories("${TBB_INCLUDE_DIR}")
+ 
+     list(APPEND CPU_SOURCE_FILES
+         tbbEvaluator.cpp
+@@ -379,6 +378,10 @@ add_library(osd_cpu_obj
+         ${PUBLIC_HEADER_FILES}
+ )
+ 
++if (TBB_FOUND)
++    target_link_libraries(osd_cpu_obj ${TBB_LIBRARIES})
++endif()
++
+ set_target_properties(osd_cpu_obj
+     PROPERTIES
+         FOLDER "opensubdiv"

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

@@ -0,0 +1,13 @@
+diff --git a/opensubdiv/CMakeLists.txt b/opensubdiv/CMakeLists.txt
+index ca24488..adb0191 100644
+--- a/opensubdiv/CMakeLists.txt
++++ b/opensubdiv/CMakeLists.txt
+@@ -241,7 +241,7 @@ if (NOT NO_LIB)
+     endif()
+ 
+     # Build frameworks  ----------------------------------
+-    if(APPLE)
++    if(APPLE AND OSD_GPU)
+         get_directory_property(OSD_HEADER_FILES DIRECTORY ${CMAKE_SOURCE_DIR}/opensubdiv/osd DEFINITION PUBLIC_HEADER_FILES)
+         get_directory_property(FAR_HEADER_FILES DIRECTORY ${CMAKE_SOURCE_DIR}/opensubdiv/far DEFINITION PUBLIC_HEADER_FILES)
+         get_directory_property(SDC_HEADER_FILES DIRECTORY ${CMAKE_SOURCE_DIR}/opensubdiv/sdc DEFINITION PUBLIC_HEADER_FILES)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opensubdiv/fix-version-search.patch

@@ -0,0 +1,13 @@
+diff --git a/cmake/FindOpenCL.cmake b/cmake/FindOpenCL.cmake
+index 485e55e..1c98b91 100644
+--- a/cmake/FindOpenCL.cmake
++++ b/cmake/FindOpenCL.cmake
+@@ -177,7 +177,7 @@ if(_OPENCL_CPP_INCLUDE_DIRS)
+     
+     if(EXISTS "${OPENCL_INCLUDE_DIRS}/CL/cl.h")
+     
+-        file(STRINGS "${OPENCL_INCLUDE_DIRS}/CL/cl.h" LINES REGEX "^#define CL_VERSION_.*$")
++        file(STRINGS "${OPENCL_INCLUDE_DIRS}/CL/cl.h" LINES REGEX "^#define CL_VERSION_[0-9]+_[0-9]+.*$")
+ 
+         foreach(LINE ${LINES})
+         

third-party/DPVO/Pangolin/scripts/vcpkg/ports/opensubdiv/fix_compile-option.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index b69912ae..dcde4297 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -218,7 +218,7 @@ elseif(MSVC)
+ 
+     list(APPEND OSD_COMPILER_FLAGS
+                     /W3     # Use warning level recommended for production purposes.
+-                    /WX     # Treat all compiler warnings as errors.
++                    # /WX     # Treat all compiler warnings as errors.
+ 
+                     # warning C4005: macro redefinition
+                     /wd4005

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

@@ -0,0 +1,135 @@
+if (VCPKG_TARGET_IS_WINDOWS OR VCPKG_TARGET_IS_IOS)
+    vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+endif()
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO PixarAnimationStudios/OpenSubdiv
+    REF 82ab1b9f54c87fdd7e989a3470d53e137b8ca270 # 3.4.3
+    SHA512 607cb9aa05d83a24bc2102bfd28abfec58f5723b1c56f6f431111ebf98f105ff7ca2a77610953acd21f73cb74d8d8ec68db3aeb11be1f9ca56d87c36c58dd095
+    HEAD_REF master
+    PATCHES
+        fix_compile-option.patch
+        fix-version-search.patch
+        fix-build-type.patch
+        fix-mac-build.patch
+        fix-dependencies.patch
+)
+
+if(VCPKG_TARGET_IS_LINUX)
+    message(
+"OpenSubdiv currently requires the following libraries from the system package manager:
+    xinerama xxf86vm
+
+These can be installed on Ubuntu systems via sudo apt install libxinerama-dev libxxf86vm-dev")
+endif()
+
+vcpkg_find_acquire_program(PYTHON2)
+get_filename_component(PYTHON2_DIR "${PYTHON2}" DIRECTORY)
+vcpkg_add_to_path("${PYTHON2_DIR}")
+
+if (VCPKG_CRT_LINKAGE STREQUAL static)
+    set(STATIC_CRT_LNK ON)
+else()
+    set(STATIC_CRT_LNK OFF)
+endif()
+
+if ("cuda" IN_LIST FEATURES AND VCPKG_TARGET_ARCHITECTURE STREQUAL "x86")
+    message(FATAL_ERROR "Feature 'cuda' can only build on x64 arch.")
+endif()
+
+if (("dx" IN_LIST FEATURES OR "omp" IN_LIST FEATURES) AND NOT VCPKG_TARGET_IS_WINDOWS)
+    message(FATAL_ERROR "Feature 'dx' and 'omp' only support Windows.")
+endif()
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        "true-deriv-eval"   OPENSUBDIV_GREGORY_EVAL_TRUE_DERIVATIVES
+    INVERTED_FEATURES
+        "cuda"      NO_CUDA
+        "dx"        NO_DX
+        "examples"  NO_EXAMPLES
+        "glew"      NO_GLEW
+        "glfw"      NO_GLFW
+        "glfw"      NO_GLFW_X11
+        "omp"       NO_OMP
+        "opencl"    NO_OPENCL
+        "ptex"      NO_PTEX
+        "tbb"       NO_TBB
+        "tutorials" NO_TUTORIALS
+)
+
+set(OSD_EXTRA_OPTS)
+if ("ptex" IN_LIST FEATURES)
+    list(APPEND OSD_EXTRA_OPTS -DPTEX_LOCATION=${CURRENT_INSTALLED_DIR})
+endif()
+if ("glew" IN_LIST FEATURES)
+    list(APPEND OSD_EXTRA_OPTS -DGLEW_LOCATION=${CURRENT_INSTALLED_DIR})
+endif()
+if ("glfw" IN_LIST FEATURES)
+    list(APPEND OSD_EXTRA_OPTS -DGLFW_LOCATION=${CURRENT_INSTALLED_DIR})
+endif()
+if ("dx" IN_LIST FEATURES)
+    list(APPEND OSD_EXTRA_OPTS -DDXSDK_LOCATION=${CURRENT_INSTALLED_DIR})
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH ${SOURCE_PATH}
+    OPTIONS
+        -DMSVC_STATIC_CRT=${STATIC_CRT_LNK}
+        -DNO_LIB=OFF
+        -DNO_REGRESSION=ON
+        -DNO_DOC=ON
+        -DNO_TESTS=ON
+        -DNO_GLTESTS=ON
+        -DNO_CLEW=ON
+        -DNO_METAL=ON
+        -DNO_OPENGL=ON # missing glloader
+        ${FEATURE_OPTIONS}
+        ${OSD_EXTRA_OPTS}
+    MAYBE_UNUSED_VARIABLES
+        MSVC_STATIC_CRT
+)
+
+vcpkg_cmake_install()
+
+if ("opencl" IN_LIST FEATURES OR "dx" IN_LIST FEATURES)
+    vcpkg_copy_tools(TOOL_NAMES stringify AUTO_CLEAN)
+endif()
+
+if ("examples" IN_LIST FEATURES)
+    if ("dx" IN_LIST FEATURES)
+        vcpkg_copy_tools(TOOL_NAMES dxViewer AUTO_CLEAN)
+        if ("ptex" IN_LIST FEATURES)
+            vcpkg_copy_tools(TOOL_NAMES dxPtexViewer AUTO_CLEAN)
+        endif()
+    endif()
+endif()
+
+if ("tutorials" IN_LIST FEATURES)
+    file(GLOB TUTORIALS_TOOLS "${CURRENT_PACKAGES_DIR}/bin/tutorials/*${VCPKG_TARGET_EXECUTABLE_SUFFIX}")
+    set(TUTORIALS_TOOL_NAMES )
+    foreach(TUTORIALS_TOOL IN LISTS TUTORIALS_TOOLS)
+        get_filename_component(TUTORIALS_TOOL_NAME "${TUTORIALS_TOOL}" NAME_WE)
+        list(APPEND TUTORIALS_TOOL_NAMES "${TUTORIALS_TOOL_NAME}")
+    endforeach()
+    if (TUTORIALS_TOOL_NAMES)
+        vcpkg_copy_tools(TOOL_NAMES ${TUTORIALS_TOOL_NAMES} SEARCH_DIR "${CURRENT_PACKAGES_DIR}/bin/tutorials/" AUTO_CLEAN)
+    endif()
+endif()
+
+# The header files are read only and can't remove when remove this port
+file(GLOB_RECURSE OSD_HDRS "${CURRENT_PACKAGES_DIR}/include/*.h")
+file(CHMOD_RECURSE ${OSD_HDRS}
+        PERMISSIONS
+            OWNER_READ OWNER_WRITE
+            GROUP_READ GROUP_WRITE
+            WORLD_READ WORLD_WRITE
+)
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include"
+                    "${CURRENT_PACKAGES_DIR}/bin"
+                    "${CURRENT_PACKAGES_DIR}/debug/bin"
+)
+
+file(INSTALL "${SOURCE_PATH}/LICENSE.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)