aa684944cf2bfdc9b83ac317a8651bbfe9e136703fd997f83535e986fecb691e

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcl/Workaround-ICE-in-release.patch

@@ -0,0 +1,20 @@
+diff --git a/surface/src/3rdparty/opennurbs/opennurbs_lookup.cpp b/surface/src/3rdparty/opennurbs/opennurbs_lookup.cpp
+index 49e52b4..a9578bd 100644
+--- a/surface/src/3rdparty/opennurbs/opennurbs_lookup.cpp
++++ b/surface/src/3rdparty/opennurbs/opennurbs_lookup.cpp
+@@ -666,6 +666,7 @@ std::size_t ON_SerialNumberMap::ActiveIdCount() const
+   return m_active_id_count;
+ }
+ 
++#pragma optimize("", off)
+ struct ON_SerialNumberMap::SN_ELEMENT* ON_SerialNumberMap::FirstElement() const
+ {
+   struct SN_ELEMENT* e=0;
+@@ -717,6 +718,7 @@ struct ON_SerialNumberMap::SN_ELEMENT* ON_SerialNumberMap::FirstElement() const
+   }
+   return e;
+ }
++#pragma optimize("", on)
+ 
+ struct ON_SerialNumberMap::SN_ELEMENT* ON_SerialNumberMap::LastElement() const
+ {

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcl/fix-cmake_find_library_suffixes.patch

@@ -0,0 +1,20 @@
+diff --git a/cmake/pcl_options.cmake b/cmake/pcl_options.cmake
+index 6570d75..1d9b0d8 100644
+--- a/cmake/pcl_options.cmake
++++ b/cmake/pcl_options.cmake
+@@ -7,14 +7,13 @@ if(PCL_SHARED_LIBS)
+   set(PCL_LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
+   set(PCL_LIB_TYPE "SHARED")
+ #  set(CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_SHARED_LIBRARY_SUFFIX})
+-  if(WIN32)
++  if(0)
+     set(CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_IMPORT_LIBRARY_SUFFIX})
+   endif()
+ else()
+   set(PCL_LIB_PREFIX ${CMAKE_STATIC_LIBRARY_PREFIX})
+   set(PCL_LIB_SUFFIX ${CMAKE_STATIC_LIBRARY_SUFFIX})
+   set(PCL_LIB_TYPE "STATIC")
+-  set(CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_STATIC_LIBRARY_SUFFIX})
+ endif()
+ mark_as_advanced(PCL_SHARED_LIBS)
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcl/fix-error-C3052.patch

@@ -0,0 +1,20 @@
+diff --git a/common/src/fft/kiss_fft.c b/common/src/fft/kiss_fft.c
+index a996887..37232bd 100644
+--- a/common/src/fft/kiss_fft.c
++++ b/common/src/fft/kiss_fft.c
+@@ -260,11 +260,13 @@ void kf_work(
+ #if (defined _OPENMP && (_OPENMP <= 201307)) || (defined __GNUC__ && (__GNUC__ >= 6 && __GNUC__ < 9))
+ #pragma omp parallel for \
+   default(none) \
+-  shared(f, factors, Fout, in_stride)
++  shared(f, factors, Fout, in_stride) \
++  private(k)
+ #else
+ #pragma omp parallel for \
+   default(none) \
+-  shared(f, factors, Fout, fstride, in_stride, m, p, st)
++  shared(f, factors, Fout, fstride, in_stride, m, p, st) \
++  private(k)
+ #endif
+         for (k=0;k<p;++k) 
+             kf_work( Fout +k*m, f+ fstride*in_stride*k,fstride*p,in_stride,factors,st);

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcl/fix-find-libusb.patch

@@ -0,0 +1,56 @@
+diff --git a/cmake/Modules/FindOpenNI.cmake b/cmake/Modules/FindOpenNI.cmake
+index 249e896..eff0b95 100644
+--- a/cmake/Modules/FindOpenNI.cmake
++++ b/cmake/Modules/FindOpenNI.cmake
+@@ -51,9 +51,9 @@ if(OPENNI_INCLUDE_DIR AND OPENNI_LIBRARY)
+   mark_as_advanced(OPENNI_INCLUDE_DIRS)
+ 
+   # Libraries
+-  if(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
+-    find_package(libusb REQUIRED)
+-    set(OPENNI_LIBRARIES ${OPENNI_LIBRARY} libusb::libusb)
++  if(NOT WIN32)
++    find_package(libusb CONFIG REQUIRED)
++    set(OPENNI_LIBRARIES ${OPENNI_LIBRARIES} ${LIBUSB_LIBRARIES})
+   else()
+     set(OPENNI_LIBRARIES ${OPENNI_LIBRARY})
+   endif()
+diff --git a/cmake/Modules/FindOpenNI2.cmake b/cmake/Modules/FindOpenNI2.cmake
+index 14ca206..8471067 100644
+--- a/cmake/Modules/FindOpenNI2.cmake
++++ b/cmake/Modules/FindOpenNI2.cmake
+@@ -41,9 +41,9 @@ if(OPENNI2_INCLUDE_DIR AND OPENNI2_LIBRARY)
+   mark_as_advanced(OPENNI2_INCLUDE_DIRS)
+ 
+   # Libraries
+-  if(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
+-    find_package(libusb REQUIRED)
+-    set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY} libusb::libusb)
++  if(NOT WIN32)
++    find_package(libusb CONFIG REQUIRED)
++    set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY} ${LIBUSB_LIBRARIES})
+   else()
+     set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY})
+   endif()
+diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
+index ab91842..189063c 100644
+--- a/io/CMakeLists.txt
++++ b/io/CMakeLists.txt
+@@ -334,7 +334,7 @@ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ 
+ add_definitions(${VTK_DEFINES})
+ 
+-PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
++PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES} ${LIBUSB_INCLUDE_DIRS})
+ 
+ target_include_directories(${LIB_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
+ 
+@@ -356,7 +356,7 @@ if(PNG_FOUND)
+ endif()
+ 
+ if(LIBUSB_FOUND)
+-  target_link_libraries("${LIB_NAME}" libusb::libusb)
++  target_link_libraries("${LIB_NAME}" ${LIBUSB_LIBRARIES})
+ endif()
+ 
+ if(WITH_OPENNI2)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcl/fix-find-qhull.patch

@@ -0,0 +1,44 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a1d9bb5..73b1465 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -359,10 +359,8 @@ if(WITH_QHULL)
+   if(NOT PCL_SHARED_LIBS OR ((WIN32 AND NOT MINGW) AND NOT PCL_BUILD_WITH_QHULL_DYNAMIC_LINKING_WIN32))
+     set(QHULL_USE_STATIC ON)
+   endif()
+-  find_package(Qhull)
+-  if(QHULL_FOUND)
+-    include_directories(SYSTEM ${QHULL_INCLUDE_DIRS})
+-  endif()
++  find_package(Qhull CONFIG REQUIRED)
++  set(HAVE_QHULL ON)
+ endif()
+ 
+ # Cuda
+diff --git a/surface/CMakeLists.txt b/surface/CMakeLists.txt
+index d8a8566..1953c55 100644
+--- a/surface/CMakeLists.txt
++++ b/surface/CMakeLists.txt
+@@ -12,7 +12,7 @@ if(NOT build)
+   return()
+ endif()
+ 
+-if(QHULL_FOUND)
++if(Qhull_FOUND)
+   set(HULL_INCLUDES
+     "include/pcl/${SUBSYS_NAME}/concave_hull.h"
+     "include/pcl/${SUBSYS_NAME}/convex_hull.h"
+@@ -186,7 +186,12 @@ if(VTK_FOUND)
+   endif()
+ endif()
+ 
+-if(QHULL_FOUND)
++if(Qhull_FOUND)
++  if(QHULL_USE_STATIC)
++    set(QHULL_LIBRARIES Qhull::qhullcpp Qhull::qhullstatic Qhull::qhullstatic_r)
++  else()
++    set(QHULL_LIBRARIES Qhull::qhull_r Qhull::qhullcpp)
++  endif()
+   target_link_libraries("${LIB_NAME}" ${QHULL_LIBRARIES})
+ endif()
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcl/fix-namespace-cub.patch

@@ -0,0 +1,130 @@
+diff --git a/gpu/features/src/centroid.cu b/gpu/features/src/centroid.cu
+index 045fe6f..3e9ef8b 100644
+--- a/gpu/features/src/centroid.cu
++++ b/gpu/features/src/centroid.cu
+@@ -44,7 +44,6 @@
+ 
+ #include "pcl/gpu/utils/device/vector_math.hpp"
+ 
+-using namespace thrust;
+ 
+ namespace pcl
+ {
+@@ -124,9 +123,10 @@ float3 pcl::device::getMaxDistance(const DeviceArray<PointT>& cloud, const float
+     thrust::counting_iterator<int> ce = cf + cloud.size();
+ 
+     thrust::tuple<float, int> init(0.f, 0);
+-    thrust::maximum< tuple<float, int> > op;
++    thrust::maximum<thrust::tuple<float, int>> op;
+     
+-    tuple<float, int> res = transform_reduce(
++    thrust::tuple<float, int> res =
++        transform_reduce(
+         make_zip_iterator(make_tuple( src_beg, cf )),
+         make_zip_iterator(make_tuple( src_beg, ce )),
+         TupleDistCvt(pivot), init, op);
+@@ -151,9 +151,9 @@ float3 pcl::device::getMaxDistance(const DeviceArray<PointT>& cloud, const Indic
+     thrust::counting_iterator<int> ce = cf + indices.size();
+ 
+     thrust::tuple<float, int> init(0.f, 0);
+-    thrust::maximum< tuple<float, int> > op;
++    thrust::maximum<thrust::tuple<float, int>> op;
+     
+-    tuple<float, int> res = transform_reduce(
++    thrust::tuple<float, int> res = transform_reduce(
+         make_zip_iterator(make_tuple( make_permutation_iterator(src_beg, map_beg), cf )),
+         make_zip_iterator(make_tuple( make_permutation_iterator(src_beg, map_end), ce )),
+         TupleDistCvt(pivot), init, op);
+diff --git a/gpu/octree/src/cuda/bfrs.cu b/gpu/octree/src/cuda/bfrs.cu
+index d392f67..0635e1e 100644
+--- a/gpu/octree/src/cuda/bfrs.cu
++++ b/gpu/octree/src/cuda/bfrs.cu
+@@ -43,7 +43,6 @@
+ 
+ #include "cuda.h"
+ 
+-using namespace thrust;
+ 
+ namespace pcl
+ {    
+@@ -80,11 +79,11 @@ void pcl::device::bruteForceRadiusSearch(const OctreeImpl::PointCloud& cloud, co
+ 
+     InSphere cond(query.x, query.y, query.z, radius);
+ 
+-    device_ptr<const PointType> cloud_ptr((const PointType*)cloud.ptr());
+-    device_ptr<int> res_ptr(buffer.ptr());
++    thrust::device_ptr<const PointType> cloud_ptr((const PointType*)cloud.ptr());
++    thrust::device_ptr<int> res_ptr(buffer.ptr());
+     
+-    counting_iterator<int> first(0);
+-    counting_iterator<int> last = first + cloud.size();
++    thrust::counting_iterator<int> first(0);
++    thrust::counting_iterator<int> last = first + cloud.size();
+     
+     //main bottle neck is a kernel call overhead/allocs
+     //work time for 871k points ~0.8ms
+diff --git a/gpu/octree/src/cuda/octree_builder.cu b/gpu/octree/src/cuda/octree_builder.cu
+index dfd2093..faad764 100644
+--- a/gpu/octree/src/cuda/octree_builder.cu
++++ b/gpu/octree/src/cuda/octree_builder.cu
+@@ -51,7 +51,6 @@
+ #include <thrust/device_ptr.h>
+ 
+ using namespace pcl::gpu;
+-using namespace thrust;
+ 
+ namespace pcl 
+ {
+@@ -316,7 +315,7 @@ void pcl::device::OctreeImpl::build()
+         // 3 * sizeof(int) => +1 row        
+ 
+         const int transaction_size = 128 / sizeof(int);
+-        int cols = max<int>(points_num, transaction_size * 4);
++        int cols = std::max<int>(points_num, transaction_size * 4);
+         int rows = 10 + 1; // = 13
+             
+         storage.create(rows, cols);
+@@ -338,8 +337,8 @@ void pcl::device::OctreeImpl::build()
+     {
+         //ScopeTimer timer("reduce-morton-sort-permutations"); 
+     	
+-        device_ptr<PointType> beg(points.ptr());
+-        device_ptr<PointType> end = beg + points.size();
++        thrust::device_ptr<PointType> beg(points.ptr());
++        thrust::device_ptr<PointType> end = beg + points.size();
+ 
+         {
+             PointType atmax, atmin;
+@@ -355,15 +354,15 @@ void pcl::device::OctreeImpl::build()
+             octreeGlobal.maxp = make_float3(maxp.x, maxp.y, maxp.z);
+         }
+     		
+-        device_ptr<int> codes_beg(codes.ptr());
+-        device_ptr<int> codes_end = codes_beg + codes.size();
++        thrust::device_ptr<int> codes_beg(codes.ptr());
++        thrust::device_ptr<int> codes_end = codes_beg + codes.size();
+         {
+             //ScopeTimer timer("morton"); 
+ 	        thrust::transform(beg, end, codes_beg, CalcMorton(octreeGlobal.minp, octreeGlobal.maxp));
+         }
+ 
+-        device_ptr<int> indices_beg(indices.ptr());
+-        device_ptr<int> indices_end = indices_beg + indices.size();
++        thrust::device_ptr<int> indices_beg(indices.ptr());
++        thrust::device_ptr<int> indices_end = indices_beg + indices.size();
+         {
+             //ScopeTimer timer("sort"); 
+             thrust::sequence(indices_beg, indices_end);
+@@ -378,9 +377,9 @@ void pcl::device::OctreeImpl::build()
+         }
+ 
+         {
+-            device_ptr<float> xs(points_sorted.ptr(0));
+-            device_ptr<float> ys(points_sorted.ptr(1));
+-            device_ptr<float> zs(points_sorted.ptr(2));
++            thrust::device_ptr<float> xs(points_sorted.ptr(0));
++            thrust::device_ptr<float> ys(points_sorted.ptr(1));
++            thrust::device_ptr<float> zs(points_sorted.ptr(2));
+             //ScopeTimer timer("perm2"); 
+             thrust::transform(make_permutation_iterator(beg, indices_beg),
+                               make_permutation_iterator(end, indices_end), 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcl/fix-numeric-literals-flag.patch

@@ -0,0 +1,26 @@
+From 3ea8aa5ded2782cfb10577348fc9f56144c72d7b Mon Sep 17 00:00:00 2001
+From: raahilsha-z <[email protected]>
+Date: Wed, 7 Jul 2021 15:57:46 -0400
+Subject: [PATCH] fix numeric literals flag
+
+---
+ CMakeLists.txt | 3 +++
+ 1 file changed, 3 insertions(+)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 7cf86f74b..e07fd430a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -420,6 +420,9 @@ endif()
+ 
+ # Boost (required)
+ include("${PCL_SOURCE_DIR}/cmake/pcl_find_boost.cmake")
++if (NOT APPLE AND NOT WIN32 AND CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
++    add_definitions(-fext-numeric-literals)
++endif()
+ 
+ ### ---[ Create the config.h file
+ set(pcl_config_h_in "${CMAKE_CURRENT_SOURCE_DIR}/pcl_config.h.in")
+-- 
+2.32.0.windows.1
+

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

@@ -0,0 +1,18 @@
+diff --git a/cuda/common/CMakeLists.txt b/cuda/common/CMakeLists.txt
+index b5775af..e7a2ff2 100644
+--- a/cuda/common/CMakeLists.txt
++++ b/cuda/common/CMakeLists.txt
+@@ -29,10 +29,10 @@ set(common_incs
+     )
+ 
+ include_directories(./include)
+-#set(LIB_NAME pcl_${SUBSYS_NAME})
++set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ set(EXT_DEPS CUDA)
+-#PCL_MAKE_PKGCONFIG(${LIB_NAME} ${SUBSYS_NAME} "${SUBSYS_DESC}"
+-#    "${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")
++PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC "${SUBSYS_DESC}"
++    PCL_DEPS "${SUBSYS_DEPS}" EXT_DEPS "" HEADER_ONLY)
+ 
+ # Install include files
+ PCL_ADD_INCLUDES(${SUBSYS_NAME} "cuda" ${incs})

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcl/install-examples.patch

@@ -0,0 +1,13 @@
+diff --git a/cmake/pcl_targets.cmake b/cmake/pcl_targets.cmake
+index 91f2404..18f5a24 100644
+--- a/cmake/pcl_targets.cmake
++++ b/cmake/pcl_targets.cmake
+@@ -473,6 +473,8 @@ macro(PCL_ADD_EXAMPLE _name)
+   # add target to list of example targets created at the parent scope
+   list(APPEND PCL_EXAMPLES_ALL_TARGETS ${_name})
+   set(PCL_EXAMPLES_ALL_TARGETS "${PCL_EXAMPLES_ALL_TARGETS}" PARENT_SCOPE)
++
++  install(TARGETS ${_name} RUNTIME DESTINATION ${BIN_INSTALL_DIR})
+ endmacro()
+ 
+ ###############################################################################

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcl/no-absolute.patch

@@ -0,0 +1,21 @@
+diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
+index 4137ed1..167fde2 100644
+--- a/PCLConfig.cmake.in
++++ b/PCLConfig.cmake.in
+@@ -230,7 +230,7 @@ macro(find_flann)
+   if(PCL_ALL_IN_ONE_INSTALLER)
+     set(FLANN_ROOT "${PCL_ROOT}/3rdParty/Flann")
+   elseif(NOT FLANN_ROOT)
+-    set(FLANN_ROOT "@FLANN_ROOT@")
++    set(FLANN_ROOT "${VCPKG_IMPORT_PREFIX}")
+   endif()
+ 
+   set(FLANN_USE_STATIC @FLANN_USE_STATIC@)
+@@ -402,7 +402,6 @@ elseif(EXISTS "${PCL_DIR}/include/pcl/pcl_config.h")
+   # pcl_message("PCL found into a build tree.")
+   set(PCL_CONF_INCLUDE_DIR "${PCL_DIR}/include") # for pcl_config.h
+   set(PCL_LIBRARY_DIRS "${PCL_DIR}/@LIB_INSTALL_DIR@")
+-  set(PCL_SOURCES_TREE "@CMAKE_SOURCE_DIR@")
+ else()
+   pcl_report_not_found("PCL can not be found on this machine")
+ endif()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcl/pcl_config.patch

@@ -0,0 +1,43 @@
+From 2f4952e1767ad5b0349a03ee56d676d226102381 Mon Sep 17 00:00:00 2001
+From: raahilsha-z <[email protected]>
+Date: Wed, 7 Jul 2021 15:59:12 -0400
+Subject: [PATCH] pcl_config
+
+---
+ PCLConfig.cmake.in | 12 +++---------
+ 1 file changed, 3 insertions(+), 9 deletions(-)
+
+diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
+index a1283a810..4137ed18c 100644
+--- a/PCLConfig.cmake.in
++++ b/PCLConfig.cmake.in
+@@ -384,6 +384,7 @@ file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
+ if(WIN32 AND NOT MINGW)
+ # PCLConfig.cmake is installed to PCL_ROOT/cmake
+   get_filename_component(PCL_ROOT "${PCL_DIR}" PATH)
++  get_filename_component(PCL_ROOT "${PCL_ROOT}" PATH)
+   if(EXISTS "${PCL_ROOT}/3rdParty")
+     set(PCL_ALL_IN_ONE_INSTALLER ON)
+   endif()
+@@ -393,16 +394,9 @@ else()
+ endif()
+ 
+ # check whether PCLConfig.cmake is found into a PCL installation or in a build tree
+-if(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/pcl_config.h")
+-  # Found a PCL installation
+-  # pcl_message("Found a PCL installation")
+-  set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
+-  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/@LIB_INSTALL_DIR@")
+-elseif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
+-  # Found a non-standard (likely ANDROID) PCL installation
+-  # pcl_message("Found a PCL installation")
++if(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
+   set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include")
+-  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib")
++  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/@LIB_INSTALL_DIR@" "${PCL_ROOT}/debug/@LIB_INSTALL_DIR@")
+ elseif(EXISTS "${PCL_DIR}/include/pcl/pcl_config.h")
+   # Found PCLConfig.cmake in a build tree of PCL
+   # pcl_message("PCL found into a build tree.")
+-- 
+2.32.0.windows.1
+

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcl/pcl_utils.patch

@@ -0,0 +1,40 @@
+From 6f4e2fea829b5986863403d6a611c52c5ac8b2a9 Mon Sep 17 00:00:00 2001
+From: raahilsha-z <[email protected]>
+Date: Wed, 7 Jul 2021 16:00:30 -0400
+Subject: [PATCH] pcl_utils
+
+---
+ cmake/pcl_utils.cmake | 13 ++-----------
+ 1 file changed, 2 insertions(+), 11 deletions(-)
+
+diff --git a/cmake/pcl_utils.cmake b/cmake/pcl_utils.cmake
+index d87d02da9..7c951bfd5 100644
+--- a/cmake/pcl_utils.cmake
++++ b/cmake/pcl_utils.cmake
+@@ -94,21 +94,12 @@ macro(SET_INSTALL_DIRS)
+   if(NOT DEFINED LIB_INSTALL_DIR)
+     set(LIB_INSTALL_DIR "lib")
+   endif()
+-    if(NOT ANDROID)
+-      set(INCLUDE_INSTALL_ROOT
+-          "include/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
+-    else()
+-      set(INCLUDE_INSTALL_ROOT "include") # Android, don't put into subdir
+-    endif()
++    set(INCLUDE_INSTALL_ROOT "include")
+     set(INCLUDE_INSTALL_DIR "${INCLUDE_INSTALL_ROOT}/pcl")
+     set(DOC_INSTALL_DIR "share/doc/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
+     set(BIN_INSTALL_DIR "bin")
+     set(PKGCFG_INSTALL_DIR "${LIB_INSTALL_DIR}/pkgconfig")
+-    if(WIN32 AND NOT MINGW)
+-        set(PCLCONFIG_INSTALL_DIR "cmake")
+-      else()
+-        set(PCLCONFIG_INSTALL_DIR "share/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
+-      endif()
++    set(PCLCONFIG_INSTALL_DIR "share/pcl")
+ endmacro()
+ 
+ 
+-- 
+2.32.0.windows.1
+

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

@@ -0,0 +1,127 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO PointCloudLibrary/pcl
+    REF f36a69a5e89953708990c4669317f989d532cf08 # pcl-1.12.0
+    SHA512 dbbd0adbb08949ddef2789e0021b6ca9727be33c7193d0bb135c61def09a42ed6a71333f06b6fad407010ecb4b73c19f087f7520386b92a008e90c254eafe422
+    HEAD_REF master
+    PATCHES
+        add-gcc-version-check.patch
+        fix-check-sse.patch
+        fix-find-qhull.patch
+        fix-numeric-literals-flag.patch
+        pcl_config.patch
+        pcl_utils.patch
+        remove-broken-targets.patch
+        fix-cmake_find_library_suffixes.patch
+        fix-pkgconfig.patch # Remove this patch in the next update
+        fix-namespace-cub.patch # Remove this patch in the next update
+        fix-error-C3052.patch # Remove this patch in the next update
+        fix-find-libusb.patch
+        install-examples.patch
+        no-absolute.patch
+        Workaround-ICE-in-release.patch
+)
+
+file(REMOVE "${SOURCE_PATH}/cmake/Modules/FindQhull.cmake"
+            "${SOURCE_PATH}/cmake/Modules/Findlibusb.cmake"
+)
+string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "dynamic" PCL_SHARED_LIBS)
+
+if ("cuda" IN_LIST FEATURES AND VCPKG_TARGET_ARCHITECTURE STREQUAL x86)
+    message(FATAL_ERROR "Feature cuda only supports 64-bit compilation.")
+endif()
+
+if ("tools" IN_LIST FEATURES AND VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    message(FATAL_ERROR "Feature tools only supports dynamic build")
+endif()
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        openni2         WITH_OPENNI2
+        qt              WITH_QT
+        pcap            WITH_PCAP
+        cuda            WITH_CUDA
+        cuda            BUILD_CUDA
+        cuda            BUILD_GPU
+        tools           BUILD_tools
+        opengl          WITH_OPENGL
+        libusb          WITH_LIBUSB
+        visualization   WITH_VTK
+        visualization   BUILD_visualization
+        examples        BUILD_examples
+        apps            BUILD_apps
+        # These 2 apps need openni1
+        #apps            BUILD_apps_in_hand_scanner
+        #apps            BUILD_apps_3d_rec_framework
+        simulation      BUILD_simulation
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        # BUILD
+        -DBUILD_surface_on_nurbs=ON
+        # PCL
+        -DPCL_BUILD_WITH_BOOST_DYNAMIC_LINKING_WIN32=${PCL_SHARED_LIBS}
+        -DPCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32=${PCL_SHARED_LIBS}
+        -DPCL_BUILD_WITH_QHULL_DYNAMIC_LINKING_WIN32=${PCL_SHARED_LIBS}
+        -DPCL_SHARED_LIBS=${PCL_SHARED_LIBS}
+        # WITH
+        -DWITH_PNG=ON
+        -DWITH_QHULL=ON
+        -DWITH_OPENNI=OFF
+        -DWITH_ENSENSO=OFF
+        -DWITH_DAVIDSDK=OFF
+        -DWITH_DSSDK=OFF
+        -DWITH_RSSDK=OFF
+        -DWITH_RSSDK2=OFF
+        -DWITH_OPENMP=OFF
+        # FEATURES
+        ${FEATURE_OPTIONS}
+    MAYBE_UNUSED_VARIABLES
+        PCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup()
+vcpkg_copy_pdbs()
+
+if (WITH_OPENNI2)
+    if (NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+        file(GLOB PCL_PKGCONFIG_DBGS "${CURRENT_PACKAGES_DIR}/debug/lib/pkgconfig/*.pc")
+        foreach (PCL_PKGCONFIG IN LISTS PCL_PKGCONFIG_DBGS)
+            file(READ "${PCL_PKGCONFIG}" PCL_PC_DBG)
+            if (PCL_PC_DBG MATCHES "libopenni2")
+                string(REPLACE "libopenni2" "" PCL_PC_DBG "${PCL_PC_DBG}")
+                string(REPLACE "Libs: " "Libs: -lKinect10 -lOpenNI2 " PCL_PC_DBG "${PCL_PC_DBG}")
+                file(WRITE "${PCL_PKGCONFIG}" "${PCL_PC_DBG}")
+            endif()
+        endforeach()
+    endif()
+    if (NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+        file(GLOB PCL_PKGCONFIG_RELS "${CURRENT_PACKAGES_DIR}/lib/pkgconfig/*.pc")
+        foreach (PCL_PKGCONFIG IN LISTS PCL_PKGCONFIG_RELS)
+            file(READ "${PCL_PKGCONFIG}" PCL_PC_REL)
+            if (PCL_PC_REL MATCHES "libopenni2")
+                string(REPLACE "libopenni2" "" PCL_PC_REL "${PCL_PC_REL}")
+                string(REPLACE "Libs: " "Libs: -lKinect10 -lOpenNI2 " PCL_PC_REL "${PCL_PC_REL}")
+                file(WRITE "${PCL_PKGCONFIG}" "${PCL_PC_REL}")
+            endif()
+        endforeach()
+    endif()
+endif()
+vcpkg_fixup_pkgconfig()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+
+if(BUILD_tools OR BUILD_apps OR BUILD_examples)
+    file(GLOB EXEFILES_RELEASE "${CURRENT_PACKAGES_DIR}/bin/*${VCPKG_TARGET_EXECUTABLE_SUFFIX}")
+    file(GLOB EXEFILES_DEBUG "${CURRENT_PACKAGES_DIR}/debug/bin/*${VCPKG_TARGET_EXECUTABLE_SUFFIX}")
+    file(COPY ${EXEFILES_RELEASE} DESTINATION "${CURRENT_PACKAGES_DIR}/tools/pcl")
+    file(REMOVE ${EXEFILES_RELEASE} ${EXEFILES_DEBUG})
+    vcpkg_copy_tool_dependencies("${CURRENT_PACKAGES_DIR}/tools/pcl")
+endif()
+
+file(INSTALL "${CMAKE_CURRENT_LIST_DIR}/usage" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}")
+file(INSTALL "${SOURCE_PATH}/LICENSE.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcl/remove-broken-targets.patch

@@ -0,0 +1,32 @@
+From 1b2613e1df507fd868b4971294f9a28183ce2e6c Mon Sep 17 00:00:00 2001
+From: raahilsha-z <[email protected]>
+Date: Wed, 7 Jul 2021 16:01:03 -0400
+Subject: [PATCH] remove broken targets
+
+---
+ tools/CMakeLists.txt | 9 ---------
+ 1 file changed, 9 deletions(-)
+
+diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
+index 5bfe6e94c..7abf3d746 100644
+--- a/tools/CMakeLists.txt
++++ b/tools/CMakeLists.txt
+@@ -123,15 +123,6 @@ target_link_libraries(pcl_concatenate_points_pcd pcl_common pcl_io)
+ PCL_ADD_EXECUTABLE(pcl_poisson_reconstruction COMPONENT ${SUBSYS_NAME} SOURCES poisson_reconstruction.cpp)
+ target_link_libraries(pcl_poisson_reconstruction pcl_common pcl_io pcl_surface)
+ 
+-PCL_ADD_EXECUTABLE(pcl_train_linemod_template COMPONENT ${SUBSYS_NAME} SOURCES train_linemod_template.cpp)
+-target_link_libraries(pcl_train_linemod_template pcl_common pcl_io pcl_segmentation pcl_recognition)
+-
+-PCL_ADD_EXECUTABLE(pcl_match_linemod_template COMPONENT ${SUBSYS_NAME} SOURCES match_linemod_template.cpp)
+-target_link_libraries(pcl_match_linemod_template pcl_common pcl_io pcl_recognition)
+-
+-PCL_ADD_EXECUTABLE(pcl_linemod_detection COMPONENT ${SUBSYS_NAME} SOURCES linemod_detection.cpp)
+-target_link_libraries(pcl_linemod_detection pcl_common pcl_io pcl_recognition)
+-
+ PCL_ADD_EXECUTABLE(pcl_fast_bilateral_filter COMPONENT ${SUBSYS_NAME} SOURCES fast_bilateral_filter.cpp)
+ target_link_libraries(pcl_fast_bilateral_filter pcl_common pcl_io pcl_filters)
+ 
+-- 
+2.32.0.windows.1
+

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

@@ -0,0 +1,4 @@
+The package pcl provides CMake targets:
+
+    find_package(PCL CONFIG REQUIRED)
+    target_link_libraries(main PRIVATE ${PCL_LIBRARIES})

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

@@ -0,0 +1,153 @@
+{
+  "name": "pcl",
+  "version": "1.12.0",
+  "port-version": 6,
+  "description": "Point Cloud Library (PCL) is open source library for 2D/3D image and point cloud processing.",
+  "homepage": "https://github.com/PointCloudLibrary/pcl",
+  "license": "BSD-3-Clause",
+  "supports": "!(arm64 & windows)",
+  "dependencies": [
+    "boost-asio",
+    "boost-date-time",
+    "boost-dynamic-bitset",
+    "boost-filesystem",
+    "boost-foreach",
+    "boost-graph",
+    "boost-interprocess",
+    "boost-iostreams",
+    "boost-multi-array",
+    "boost-property-map",
+    "boost-ptr-container",
+    "boost-random",
+    "boost-signals2",
+    "boost-sort",
+    "boost-system",
+    "boost-thread",
+    "boost-uuid",
+    "eigen3",
+    "flann",
+    "libpng",
+    "qhull",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "features": {
+    "apps": {
+      "description": "Build application examples/samples that show how PCL works",
+      "dependencies": [
+        {
+          "name": "pcl",
+          "default-features": false,
+          "features": [
+            "opengl",
+            "openni2",
+            "qt",
+            "vtk"
+          ]
+        }
+      ]
+    },
+    "cuda": {
+      "description": "CUDA support for PCL",
+      "dependencies": [
+        "cuda"
+      ]
+    },
+    "examples": {
+      "description": "Build PCL examples",
+      "dependencies": [
+        "vtk"
+      ]
+    },
+    "libusb": {
+      "description": "Build USB RGBD-Camera drivers",
+      "dependencies": [
+        "libusb"
+      ]
+    },
+    "opengl": {
+      "description": "OpenGL support for PCL"
+    },
+    "openni2": {
+      "description": "OpenNI2 support for PCL",
+      "dependencies": [
+        "openni2",
+        {
+          "name": "pcl",
+          "default-features": false,
+          "features": [
+            "libusb"
+          ],
+          "platform": "!windows"
+        }
+      ]
+    },
+    "pcap": {
+      "description": "PCAP support for PCL",
+      "dependencies": [
+        {
+          "name": "libpcap",
+          "platform": "!windows"
+        },
+        {
+          "name": "winpcap",
+          "platform": "windows"
+        }
+      ]
+    },
+    "qt": {
+      "description": "Qt support for PCL",
+      "dependencies": [
+        {
+          "name": "vtk",
+          "features": [
+            "qt"
+          ]
+        }
+      ]
+    },
+    "simulation": {
+      "description": "Build Point Cloud Library Simulation",
+      "dependencies": [
+        "glew",
+        {
+          "name": "pcl",
+          "default-features": false,
+          "features": [
+            "opengl"
+          ]
+        }
+      ]
+    },
+    "tools": {
+      "description": "Build PCL utilities",
+      "dependencies": [
+        "boost-accumulators"
+      ]
+    },
+    "visualization": {
+      "description": "Build visualization",
+      "dependencies": [
+        "vtk"
+      ]
+    },
+    "vtk": {
+      "description": "An alias for visualization",
+      "dependencies": [
+        {
+          "name": "pcl",
+          "default-features": false,
+          "features": [
+            "visualization"
+          ]
+        }
+      ]
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcre/export-cmake-targets.patch

@@ -0,0 +1,23 @@
+--- a/CMakeLists.txt	2021-06-14 10:33:38.000000000 +0200
++++ b/CMakeLists.txt	2021-06-18 18:08:24.162881000 +0200
+@@ -934,10 +934,19 @@
+ # Installation
+ SET(CMAKE_INSTALL_ALWAYS 1)
+ 
+-INSTALL(TARGETS ${targets}
++foreach(target ${targets})
++    INSTALL(TARGETS ${target}
++        EXPORT pcre-targets
+         RUNTIME DESTINATION bin
+         LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+         ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR})
++    target_include_directories(${target} PUBLIC $<INSTALL_INTERFACE:include>)
++endforeach()
++
++INSTALL(EXPORT pcre-targets
++    NAMESPACE unofficial::pcre::
++    FILE unofficial-pcre-targets.cmake
++    DESTINATION "share/unofficial-pcre")
+ 
+ INSTALL(FILES ${PCRE_HEADERS} ${PCREPOSIX_HEADERS} DESTINATION include)
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcre/pcre-8.45_fix_postfix_for_debug_Windows_builds.patch

@@ -0,0 +1,161 @@
+Index: CMakeLists.txt
+===================================================================
+--- CMakeLists.txt	(revision 1767)
++++ CMakeLists.txt	(working copy)
+@@ -436,6 +436,12 @@
+                        @ONLY)
+ ENDIF(PCRE_BUILD_PCRECPP)
+ 
++# Make sure to not link debug libs
++# against release libs and vice versa
++IF(WIN32)
++  SET(CMAKE_DEBUG_POSTFIX "d")
++ENDIF(WIN32)
++
+ # Generate pkg-config files
+ SET(PACKAGE_VERSION "${PCRE_MAJOR}.${PCRE_MINOR}")
+ SET(prefix "${CMAKE_INSTALL_PREFIX}")
+@@ -442,6 +448,9 @@
+ SET(exec_prefix "\${prefix}")
+ SET(libdir "\${exec_prefix}/${CMAKE_INSTALL_LIBDIR}")
+ SET(includedir "\${prefix}/include")
++IF(WIN32 AND (CMAKE_BUILD_TYPE MATCHES Debug))
++  SET(LIB_POSTFIX ${CMAKE_DEBUG_POSTFIX})
++ENDIF()
+ IF(NOT BUILD_SHARED_LIBS)
+         SET(PCRE_STATIC_CFLAG "-DPCRE_STATIC")
+ ENDIF(NOT BUILD_SHARED_LIBS)
+@@ -659,11 +668,6 @@
+ ENDIF(MSVC)
+ 
+ SET(CMAKE_INCLUDE_CURRENT_DIR 1)
+-# needed to make sure to not link debug libs
+-# against release libs and vice versa
+-IF(WIN32)
+-  SET(CMAKE_DEBUG_POSTFIX "d")
+-ENDIF(WIN32)
+ 
+ SET(targets)
+ 
+Index: configure.ac
+===================================================================
+--- configure.ac	(revision 1767)
++++ configure.ac	(working copy)
+@@ -1044,6 +1044,9 @@
+ AM_CONDITIONAL([WITH_GCOV],[test "x$enable_coverage" = "xyes"])
+ 
+ # Produce these files, in addition to config.h.
++# LIB_POSTFIX is used by CMakeLists.txt for Windows debug builds.
++# Pass empty LIB_POSTFIX to *.pc files and pcre-config here.
++AC_SUBST(LIB_POSTFIX)
+ AC_CONFIG_FILES(
+ 	Makefile
+ 	libpcre.pc
+Index: libpcre.pc.in
+===================================================================
+--- libpcre.pc.in	(revision 1767)
++++ libpcre.pc.in	(working copy)
+@@ -8,6 +8,6 @@
+ Name: libpcre
+ Description: PCRE - Perl compatible regular expressions C library with 8 bit character support
+ Version: @PACKAGE_VERSION@
+-Libs: -L${libdir} -lpcre
++Libs: -L${libdir} -lpcre@LIB_POSTFIX@
+ Libs.private: @PTHREAD_CFLAGS@ @PTHREAD_LIBS@
+ Cflags: -I${includedir} @PCRE_STATIC_CFLAG@
+Index: libpcre16.pc.in
+===================================================================
+--- libpcre16.pc.in	(revision 1767)
++++ libpcre16.pc.in	(working copy)
+@@ -8,6 +8,6 @@
+ Name: libpcre16
+ Description: PCRE - Perl compatible regular expressions C library with 16 bit character support
+ Version: @PACKAGE_VERSION@
+-Libs: -L${libdir} -lpcre16
++Libs: -L${libdir} -lpcre16@LIB_POSTFIX@
+ Libs.private: @PTHREAD_CFLAGS@ @PTHREAD_LIBS@
+ Cflags: -I${includedir} @PCRE_STATIC_CFLAG@
+Index: libpcre32.pc.in
+===================================================================
+--- libpcre32.pc.in	(revision 1767)
++++ libpcre32.pc.in	(working copy)
+@@ -8,6 +8,6 @@
+ Name: libpcre32
+ Description: PCRE - Perl compatible regular expressions C library with 32 bit character support
+ Version: @PACKAGE_VERSION@
+-Libs: -L${libdir} -lpcre32
++Libs: -L${libdir} -lpcre32@LIB_POSTFIX@
+ Libs.private: @PTHREAD_CFLAGS@ @PTHREAD_LIBS@
+ Cflags: -I${includedir} @PCRE_STATIC_CFLAG@
+Index: libpcrecpp.pc.in
+===================================================================
+--- libpcrecpp.pc.in	(revision 1767)
++++ libpcrecpp.pc.in	(working copy)
+@@ -8,5 +8,5 @@
+ Name: libpcrecpp
+ Description: PCRECPP - C++ wrapper for PCRE
+ Version: @PACKAGE_VERSION@
+-Libs: -L${libdir} -lpcre -lpcrecpp
++Libs: -L${libdir} -lpcre@LIB_POSTFIX@ -lpcrecpp@LIB_POSTFIX@
+ Cflags: -I${includedir} @PCRE_STATIC_CFLAG@
+Index: libpcreposix.pc.in
+===================================================================
+--- libpcreposix.pc.in	(revision 1767)
++++ libpcreposix.pc.in	(working copy)
+@@ -8,6 +8,6 @@
+ Name: libpcreposix
+ Description: PCREPosix - Posix compatible interface to libpcre
+ Version: @PACKAGE_VERSION@
+-Libs: -L${libdir} -lpcreposix
++Libs: -L${libdir} -lpcreposix@LIB_POSTFIX@
+ Cflags: -I${includedir} @PCRE_STATIC_CFLAG@
+ Requires.private: libpcre
+Index: pcre-config.in
+===================================================================
+--- pcre-config.in	(revision 1767)
++++ pcre-config.in	(working copy)
+@@ -91,7 +91,7 @@
+       ;;
+     --libs-posix)
+       if test @enable_pcre8@ = yes ; then
+-        echo $libS$libR -lpcreposix -lpcre
++        echo $libS$libR -lpcreposix@LIB_POSTFIX@ -lpcre@LIB_POSTFIX@
+       else
+         echo "${usage}" 1>&2
+       fi
+@@ -98,7 +98,7 @@
+       ;;
+     --libs)
+       if test @enable_pcre8@ = yes ; then
+-        echo $libS$libR -lpcre
++        echo $libS$libR -lpcre@LIB_POSTFIX@
+       else
+         echo "${usage}" 1>&2
+       fi
+@@ -105,7 +105,7 @@
+       ;;
+     --libs16)
+       if test @enable_pcre16@ = yes ; then
+-        echo $libS$libR -lpcre16
++        echo $libS$libR -lpcre16@LIB_POSTFIX@
+       else
+         echo "${usage}" 1>&2
+       fi
+@@ -112,7 +112,7 @@
+       ;;
+     --libs32)
+       if test @enable_pcre32@ = yes ; then
+-        echo $libS$libR -lpcre32
++        echo $libS$libR -lpcre32@LIB_POSTFIX@
+       else
+         echo "${usage}" 1>&2
+       fi
+@@ -119,7 +119,7 @@
+       ;;
+     --libs-cpp)
+       if test @enable_cpp@ = yes ; then
+-        echo $libS$libR -lpcrecpp -lpcre
++        echo $libS$libR -lpcrecpp@LIB_POSTFIX@ -lpcre@LIB_POSTFIX@
+       else
+         echo "${usage}" 1>&2
+       fi

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcre/pcre-8.45_suppress_cmake_and_compiler_warnings-errors.patch

@@ -0,0 +1,18 @@
+--- a/CMakeLists.txt	2021-06-14 10:33:38.000000000 +0200
++++ b/CMakeLists.txt	2021-06-18 17:59:59.155148900 +0200
+@@ -77,7 +77,6 @@
+ # CMP0026 to avoid warnings for the use of LOCATION in GET_TARGET_PROPERTY.
+ 
+ CMAKE_MINIMUM_REQUIRED(VERSION 2.8.5)
+-CMAKE_POLICY(SET CMP0026 OLD)
+ 
+ # For FindReadline.cmake. This was changed to allow setting CMAKE_MODULE_PATH
+ # on the command line.
+@@ -199,6 +198,7 @@
+ ENDIF(MINGW)
+ 
+ IF(MSVC)
++  add_definitions(/wd4703 /wd4146 /wd4308)
+   OPTION(PCRE_STATIC_RUNTIME
+ 	"ON=Compile against the static runtime (/MT)."
+ 	OFF)

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

@@ -0,0 +1,73 @@
+set(PCRE_VERSION 8.45)
+set(EXPECTED_SHA 71f246c0abbf356222933ad1604cab87a1a2a3cd8054a0b9d6deb25e0735ce9f40f923d14cbd21f32fdac7283794270afcb0f221ad24662ac35934fcb73675cd)
+set(PATCHES
+        # Fix CMake Deprecation Warning concerning OLD behavior for policy CMP0026
+        # Suppress MSVC compiler warnings C4703, C4146, C4308, which fixes errors
+        # under x64-uwp and arm-uwp
+        pcre-8.45_suppress_cmake_and_compiler_warnings-errors.patch
+        # Modified for 8.45 from https://bugs.exim.org/show_bug.cgi?id=2600
+        pcre-8.45_fix_postfix_for_debug_Windows_builds.patch
+        export-cmake-targets.patch)
+
+vcpkg_from_sourceforge(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO pcre/pcre
+    REF ${PCRE_VERSION}
+    FILENAME "pcre-${PCRE_VERSION}.zip"
+    SHA512 ${EXPECTED_SHA}
+    PATCHES ${PATCHES}
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH ${SOURCE_PATH}
+    OPTIONS
+        -DPCRE_BUILD_TESTS=NO
+        -DPCRE_BUILD_PCREGREP=NO
+        -DPCRE_BUILD_PCRE32=YES
+        -DPCRE_BUILD_PCRE16=YES
+        -DPCRE_BUILD_PCRE8=YES
+        -DPCRE_SUPPORT_JIT=YES
+        -DPCRE_SUPPORT_UTF=YES
+        -DPCRE_SUPPORT_UNICODE_PROPERTIES=YES
+        # optional dependencies for PCREGREP
+        -DPCRE_SUPPORT_LIBBZ2=OFF
+        -DPCRE_SUPPORT_LIBZ=OFF
+        -DPCRE_SUPPORT_LIBEDIT=OFF
+        -DPCRE_SUPPORT_LIBREADLINE=OFF
+    # OPTIONS -DUSE_THIS_IN_ALL_BUILDS=1 -DUSE_THIS_TOO=2
+    # OPTIONS_RELEASE -DOPTIMIZE=1
+    # OPTIONS_DEBUG -DDEBUGGABLE=1
+)
+
+vcpkg_cmake_install()
+
+vcpkg_cmake_config_fixup(PACKAGE_NAME "unofficial-${PORT}" CONFIG_PATH "share/unofficial-${PORT}")
+
+foreach(FILE "${CURRENT_PACKAGES_DIR}/include/pcre.h" "${CURRENT_PACKAGES_DIR}/include/pcreposix.h")
+    file(READ ${FILE} PCRE_H)
+    if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+        string(REPLACE "defined(PCRE_STATIC)" "1" PCRE_H "${PCRE_H}")
+    else()
+        string(REPLACE "defined(PCRE_STATIC)" "0" PCRE_H "${PCRE_H}")
+    endif()
+    file(WRITE ${FILE} "${PCRE_H}")
+endforeach()
+
+vcpkg_fixup_pkgconfig()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/man")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/man")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/share/doc")
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+else()
+    file(REMOVE "${CURRENT_PACKAGES_DIR}/bin/pcre-config" "${CURRENT_PACKAGES_DIR}/debug/bin/pcre-config")
+endif()
+
+vcpkg_copy_pdbs()
+configure_file("${CMAKE_CURRENT_LIST_DIR}/unofficial-pcre-config.cmake" "${CURRENT_PACKAGES_DIR}/share/unofficial-pcre/unofficial-pcre-config.cmake" @ONLY)
+
+file(INSTALL "${SOURCE_PATH}/COPYING" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcre/unofficial-pcre-config.cmake

@@ -0,0 +1 @@
+include("${CMAKE_CURRENT_LIST_DIR}/unofficial-pcre-targets.cmake")

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

@@ -0,0 +1,17 @@
+{
+  "name": "pcre",
+  "version": "8.45",
+  "port-version": 2,
+  "description": "Perl Compatible Regular Expressions",
+  "homepage": "https://www.pcre.org/",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcre2/pcre2-10.35_fix-uwp.patch

@@ -0,0 +1,10 @@
+--- a/CMakeLists.txt	2020-05-09 16:43:10.000000000 +0200
++++ b/CMakeLists.txt	2020-06-03 20:57:17.026182500 +0200
+@@ -619,6 +619,7 @@
+ 
+ IF(MSVC)
+   ADD_DEFINITIONS(-D_CRT_SECURE_NO_DEPRECATE -D_CRT_SECURE_NO_WARNINGS)
++  add_compile_options(/wd4146)
+ ENDIF(MSVC)
+ 
+ SET(CMAKE_INCLUDE_CURRENT_DIR 1)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcre2/portfile.cmake

@@ -0,0 +1,64 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO PhilipHazel/pcre2
+    REF 35fee4193b852cb504892352bd0155de10809889 # pcre2-10.39
+    SHA512 a6e50f3354dc4172df05e887dd8646d4ce6a3584fe180b17dc27b42b094e13d1d1a7e5ab3cb15dd352764d81ac33cfd03e81b0c890d9ddec72d823ca6f8bd667
+    HEAD_REF master
+    PATCHES
+        pcre2-10.35_fix-uwp.patch
+)
+
+string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "static" BUILD_STATIC)
+
+if(VCPKG_CMAKE_SYSTEM_NAME STREQUAL "Emscripten" OR VCPKG_CMAKE_SYSTEM_NAME STREQUAL "iOS")
+    set(JIT OFF)
+else()
+    set(JIT ON)
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DBUILD_STATIC_LIBS=${BUILD_STATIC}
+        -DPCRE2_BUILD_PCRE2_8=ON
+        -DPCRE2_BUILD_PCRE2_16=ON
+        -DPCRE2_BUILD_PCRE2_32=ON
+        -DPCRE2_SUPPORT_JIT=${JIT}
+        -DPCRE2_SUPPORT_UNICODE=ON
+        -DPCRE2_BUILD_TESTS=OFF
+        -DPCRE2_BUILD_PCRE2GREP=OFF
+)
+
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+
+file(READ "${CURRENT_PACKAGES_DIR}/include/pcre2.h" PCRE2_H)
+if(BUILD_STATIC)
+    string(REPLACE "defined(PCRE2_STATIC)" "1" PCRE2_H "${PCRE2_H}")
+else()
+    string(REPLACE "defined(PCRE2_STATIC)" "0" PCRE2_H "${PCRE2_H}")
+endif()
+file(WRITE "${CURRENT_PACKAGES_DIR}/include/pcre2.h" "${PCRE2_H}")
+
+vcpkg_fixup_pkgconfig()
+
+# The cmake file provided by pcre2 has some problems, so don't use it for now.
+#vcpkg_cmake_config_fixup(CONFIG_PATH cmake)
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/cmake" "${CURRENT_PACKAGES_DIR}/debug/cmake")
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/man")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/share/doc")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/man")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+
+if(BUILD_STATIC)
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+elseif(VCPKG_TARGET_IS_WINDOWS)
+    vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/bin/pcre2-config" "${CURRENT_PACKAGES_DIR}" "`dirname $0`/..")
+    if(EXISTS "${CURRENT_PACKAGES_DIR}/debug/bin/pcre2-config")
+        vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/debug/bin/pcre2-config" "${CURRENT_PACKAGES_DIR}" "`dirname $0`/../..")
+    endif()
+endif()
+
+file(INSTALL "${SOURCE_PATH}/COPYING" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pcre2/vcpkg.json

@@ -0,0 +1,17 @@
+{
+  "name": "pcre2",
+  "version": "10.39",
+  "port-version": 2,
+  "description": "Regular Expression pattern matching using the same syntax and semantics as Perl 5.",
+  "homepage": "https://github.com/PhilipHazel/pcre2",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pdal-c/cmake-project-include.cmake

@@ -0,0 +1,3 @@
+if(WIN32)
+	add_compile_definitions(NOMINMAX)
+endif()

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

@@ -0,0 +1,28 @@
+vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO PDAL/CAPI
+    REF v2.1.0
+    SHA512 07c671f83af93594d7792d770890205aad1a44803696f9567aa25f69a277fa5c3f4e9f9f5f0210ebd59f5cf75aff1f80ce532bd7bbd536a699724ceb6e3277fd
+    HEAD_REF master
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        "-DCMAKE_PROJECT_INCLUDE=${CMAKE_CURRENT_LIST_DIR}/cmake-project-include.cmake"
+        -DPDALC_ENABLE_CODE_COVERAGE:BOOL=OFF
+        -DPDALC_ENABLE_DOCS:BOOL=OFF
+        -DPDALC_ENABLE_TESTS:BOOL=OFF
+        -DCMAKE_DISABLE_FIND_PACKAGE_Git:BOOL=ON
+)
+
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+
+# Remove headers from debug
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+# Install copyright
+file(INSTALL "${SOURCE_PATH}/LICENSE.md" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pdal-c/vcpkg.json

@@ -0,0 +1,17 @@
+{
+  "name": "pdal-c",
+  "version-string": "2.1",
+  "description": "C API for the Point Data Abstraction Library (PDAL)",
+  "homepage": "https://github.com/PDAL/CAPI#readme",
+  "supports": "!(windows & staticcrt)",
+  "dependencies": [
+    {
+      "name": "pdal",
+      "default-features": false
+    },
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pdal/0002-no-source-dir-writes.patch

@@ -0,0 +1,21 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index dc146d1..9b82544 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -140,7 +140,7 @@ get_git_head_revision(GIT_REFSPEC GIT_SHA1)
+ 
+ configure_file(
+   "${PROJECT_SOURCE_DIR}/gitsha.cpp.in"
+-  "${PROJECT_SOURCE_DIR}/pdal/gitsha.cpp")
++  "${PROJECT_BINARY_DIR}/pdal/gitsha.cpp")
+ 
+ # needs to come before configuration of pdal_features
+ if(APPLE)
+@@ -201,6 +201,7 @@ file(GLOB BASE_SRCS
+     ${PDAL_IO_DIR}/*.cpp
+     ${PDAL_KERNELS_DIR}/*.cpp
+     ${PDAL_SRC_DIR}/*.cpp
++    ${PROJECT_BINARY_DIR}/pdal/gitsha.cpp
+     ${PDAL_SRC_DIR}/compression/*.cpp)
+ file(GLOB_RECURSE PRIVATE_SRCS
+     ${PDAL_FILTERS_DIR}/private/*.cpp

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pdal/0003-fix-copy-vendor.patch

@@ -0,0 +1,20 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e918a3e..a3f9a03 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -375,6 +375,15 @@ install(DIRECTORY ${PDAL_FILTERS_DIR}
+ install(FILES ${DIMENSION_OUTFILE} ${pdal_features_hpp}
+   DESTINATION include/pdal
+ )
++# Instaqll vendor headers
++install(DIRECTORY
++        ${PDAL_VENDOR_DIR}/arbiter
++        ${PDAL_VENDOR_DIR}/kazhdan
++        ${PDAL_VENDOR_DIR}/nanoflann
++    DESTINATION include/pdal/vendor
++    FILES_MATCHING PATTERN "*.hpp" PATTERN PATTERN "*.h"
++    PATTERN "private" EXCLUDE
++)
+ 
+ #
+ # CPACK

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

@@ -0,0 +1,34 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 42cca1e..43b0ced 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -266,7 +265,7 @@ target_include_directories(${PDAL_BASE_LIB_NAME}
+ target_link_libraries(${PDAL_BASE_LIB_NAME}
+     PRIVATE
+         ${CMAKE_THREAD_LIBS_INIT}
+-        ${GDAL_LIBRARY}
++        ${GDAL_LIBRARIES}
+         ${GEOTIFF_LIBRARY}
+         ${LASZIP_LIBRARY}
+         ${LIBXML2_LIBRARIES}
+diff --git a/cmake/zstd.cmake b/cmake/zstd.cmake
+index bfaa5b2..e73ec9e 100644
+--- a/cmake/zstd.cmake
++++ b/cmake/zstd.cmake
+@@ -4,7 +4,15 @@
+ option(WITH_ZSTD
+     "Build support for compression/decompression with Zstd." TRUE)
+ if (WITH_ZSTD)
+-    find_package(ZSTD QUIET)
++    find_package(zstd CONFIG REQUIRED)
++    set(ZSTD_FOUND TRUE)
++    set(ZSTD_INCLUDE_DIRS "")
++    if(TARGET zstd::libzstd_static)
++        set(ZSTD_LIBRARIES zstd::libzstd_static)
++        set(ZSTD_STATIC_LIB zstd::libzstd_static)
++    else()
++        set(ZSTD_LIBRARIES zstd::libzstd_shared)
++    endif()
+     set_package_properties(ZSTD PROPERTIES TYPE
+         PURPOSE "General compression support")
+     if (ZSTD_FOUND)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pdal/fix-find-library-suffix.patch

@@ -0,0 +1,16 @@
+diff --git a/cmake/libraries.cmake b/cmake/libraries.cmake
+index dae98ea..edab055 100644
+--- a/cmake/libraries.cmake
++++ b/cmake/libraries.cmake
+@@ -3,11 +3,7 @@
+ option(PDAL_BUILD_STATIC "Build PDAL as a static library" OFF)
+ if (PDAL_BUILD_STATIC)
+   set(PDAL_LIB_TYPE "STATIC")
+-  set(CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_STATIC_LIBRARY_SUFFIX})
+ else ()
+   set(PDAL_LIB_TYPE "SHARED")
+-  if (WIN32)
+-    set(CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_IMPORT_LIBRARY_SUFFIX})
+-  endif()
+ endif()
+ mark_as_advanced(PDAL_BUILD_STATIC)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pdal/fix-unix-compiler-options.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 679b4e7..08965d9 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -187,7 +187,7 @@ add_subdirectory(apps)
+ # so that users only need link libpdalcpp.
+ #
+ if (APPLE)
+-    set(PDAL_REEXPORT "-Wl,-reexport_library,$<TARGET_FILE:${PDAL_UTIL_LIB_NAME}>")
++    set(PDAL_REEXPORT "-Wl$<COMMA>-reexport_library$<COMMA>$<TARGET_FILE:${PDAL_UTIL_LIB_NAME}>")
+     #
+     # This allows the rpath reference for the reexported library (above) to
+     # be found.

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pdal/no-pkgconfig-requires.patch

@@ -0,0 +1,12 @@
+diff --git a/apps/pdal.pc.in b/apps/pdal.pc.in
+index 6885221..cd2136c 100644
+--- a/apps/pdal.pc.in
++++ b/apps/pdal.pc.in
+@@ -5,7 +5,6 @@ includedir=@CMAKE_INSTALL_PREFIX@/include
+ 
+ Name: PDAL
+ Description: Point Data Abstraction Library
+-Requires:  @PKGCONFIG_LIBRARY_DEFINITIONS@
+ Version: @PDAL_VERSION@
+ Libs: -L${libdir} -l@PDAL_LIB_NAME@
+ Cflags: -I${includedir}/pdal  @PDAL_CONFIG_DEFINITIONS@

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pdal/no-rpath.patch

@@ -0,0 +1,12 @@
+diff --git a/cmake/rpath.cmake b/cmake/rpath.cmake
+index ba486b7..4323a77 100644
+--- a/cmake/rpath.cmake
++++ b/cmake/rpath.cmake
+@@ -1,6 +1,7 @@
+ #
+ # Set options and variable related to OSX rpath.
+ #
++return()
+ 
+ # per http://www.cmake.org/Wiki/CMake_RPATH_handling
+ SET(CMAKE_SKIP_BUILD_RPATH FALSE)

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

@@ -0,0 +1,86 @@
+vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO PDAL/PDAL
+    REF 2.3.0
+    SHA512 898ea54c8c8e0a9bb8aed8d7f542da5a44b02c8656273783366d711b5b3f50b547438aa1cb4d41b490d187dae7bef20fe3b6c64dcb87c06e6f4cb91a8f79ac59
+    HEAD_REF master
+    PATCHES
+        0002-no-source-dir-writes.patch
+        0003-fix-copy-vendor.patch
+        fix-dependency.patch
+        use-vcpkg-boost.patch
+        fix-unix-compiler-options.patch
+        fix-find-library-suffix.patch
+        no-pkgconfig-requires.patch
+        no-rpath.patch
+)
+
+file(REMOVE "${SOURCE_PATH}/pdal/gitsha.cpp")
+file(REMOVE_RECURSE "${SOURCE_PATH}/vendor/pdalboost/boost" "${SOURCE_PATH}/vendor/pdalboost/libs")
+
+# Prefer pristine CMake find modules + wrappers and config files from vcpkg.
+foreach(package IN ITEMS Curl GeoTIFF ICONV PostgreSQL ZSTD)
+    file(REMOVE "${SOURCE_PATH}/cmake/modules/Find${package}.cmake")
+endforeach()
+
+unset(ENV{OSGEO4W_HOME})
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        draco       BUILD_PLUGIN_DRACO
+        e57         BUILD_PLUGIN_E57
+        hdf5        BUILD_PLUGIN_HDF
+        i3s         BUILD_PLUGIN_I3S
+        laszip      WITH_LASZIP
+        lzma        WITH_LZMA
+        pgpointcloud BUILD_PLUGIN_PGPOINTCLOUD
+        zstd        WITH_ZSTD
+)
+if(BUILD_PLUGIN_DRACO)
+    vcpkg_find_acquire_program(PKGCONFIG)
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DPDAL_PLUGIN_INSTALL_PATH=.
+        "-DPKG_CONFIG_EXECUTABLE=${PKGCONFIG}"
+        -DPOSTGRESQL_LIBRARIES=PostgreSQL::PostgreSQL
+        -DWITH_TESTS:BOOL=OFF
+        -DWITH_COMPLETION:BOOL=OFF
+        -DWITH_LAZPERF:BOOL=OFF
+        -DCMAKE_DISABLE_FIND_PACKAGE_Libexecinfo:BOOL=ON
+        -DCMAKE_DISABLE_FIND_PACKAGE_Libunwind:BOOL=ON
+        ${FEATURE_OPTIONS}
+    MAYBE_UNUSED_VARIABLES
+        POSTGRESQL_LIBRARIES
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/PDAL)
+vcpkg_fixup_pkgconfig()
+vcpkg_copy_pdbs()
+
+# Install and cleanup executables
+file(GLOB pdal_unsupported
+    "${CURRENT_PACKAGES_DIR}/bin/*.bat"
+    "${CURRENT_PACKAGES_DIR}/bin/pdal-config"
+    "${CURRENT_PACKAGES_DIR}/debug/bin/*.bat"
+    "${CURRENT_PACKAGES_DIR}/debug/bin/*.exe"
+    "${CURRENT_PACKAGES_DIR}/debug/bin/pdal-config"
+)
+file(REMOVE ${pdal_unsupported})
+vcpkg_copy_tools(TOOL_NAMES pdal AUTO_CLEAN)
+
+# Post-install clean-up
+file(REMOVE_RECURSE
+    "${CURRENT_PACKAGES_DIR}/include/pdal/filters/private/csf"
+    "${CURRENT_PACKAGES_DIR}/include/pdal/filters/private/miniball"
+    "${CURRENT_PACKAGES_DIR}/debug/include"
+    "${CURRENT_PACKAGES_DIR}/debug/share"
+)
+
+file(INSTALL "${CMAKE_CURRENT_LIST_DIR}/usage" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}")
+file(INSTALL "${SOURCE_PATH}/LICENSE.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,9 @@
+The package pdal provides CMake variables:
+
+    find_package(PDAL CONFIG REQUIRED)
+    target_include_directories(${PDAL_INCLUDE_DIRS})
+    target_link_libraries(main PRIVATE ${PDAL_LIBRARIES})
+        
+If necessary, override the default plugin search path by setting the
+environment variable PDAL_DRIVER_PATH to a list of directories that
+pdal should search for plugins.

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pdal/use-vcpkg-boost.patch

@@ -0,0 +1,66 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 83a396b..7ebcc3b 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -67,7 +67,8 @@ else()
+ endif()
+ set(PDAL_LIB_NAME pdalcpp)
+ set(PDAL_UTIL_LIB_NAME pdal_util)
+-set(PDAL_BOOST_LIB_NAME pdal_boost)
++find_package(Boost COMPONENTS filesystem system REQUIRED)
++set(PDAL_BOOST_LIB_NAME Boost::filesystem Boost::system)
+ set(PDAL_KAZHDAN_LIB_NAME pdal_kazhdan)
+ set(PDAL_TEST_SUPPORT_OBJS pdal_test_support)
+ 
+@@ -179,13 +180,11 @@ endif()
+ 
+ add_subdirectory(plugins)
+ 
+-#include_directories(vendor/pdalboost)
+ if (WITH_TESTS)
+     include (${PDAL_CMAKE_DIR}/gtest.cmake)
+     add_subdirectory(test)
+ endif()
+ add_subdirectory(dimbuilder)
+-add_subdirectory(vendor/pdalboost)
+ add_subdirectory(vendor/arbiter)
+ add_subdirectory(vendor/kazhdan)
+ add_subdirectory(pdal/util)
+@@ -269,7 +268,6 @@ target_include_directories(${PDAL_BASE_LIB_NAME}
+         ${PROJECT_BINARY_DIR}/include
+         ${PDAL_VENDOR_DIR}
+         ${PDAL_VENDOR_DIR}/eigen
+-        ${PDAL_VENDOR_DIR}/pdalboost
+         ${LIBXML2_INCLUDE_DIR}
+         ${ZSTD_INCLUDE_DIRS}
+         ${NLOHMANN_INCLUDE_DIR}
+diff --git a/pdal/util/CMakeLists.txt b/pdal/util/CMakeLists.txt
+index 6b3e889..8a42122 100644
+--- a/pdal/util/CMakeLists.txt
++++ b/pdal/util/CMakeLists.txt
+@@ -40,8 +40,6 @@ target_link_libraries(${PDAL_UTIL_LIB_NAME}
+         ${CMAKE_DL_LIBS}
+         ${CMAKE_THREAD_LIBS_INIT}
+ )
+-target_include_directories(${PDAL_UTIL_LIB_NAME} PRIVATE
+-    ${PDAL_VENDOR_DIR}/pdalboost)
+ 
+ set_target_properties(${PDAL_UTIL_LIB_NAME} PROPERTIES
+     VERSION "${PDAL_BUILD_VERSION}"
+diff --git a/pdal/util/FileUtils.cpp b/pdal/util/FileUtils.cpp
+index ee47b55..4a57268 100644
+--- a/pdal/util/FileUtils.cpp
++++ b/pdal/util/FileUtils.cpp
+@@ -98,6 +98,12 @@ inline std::string const& toNative(std::string const& in) { return in; }
+ 
+ } // unnamed namespace
+ 
++namespace pdalboost
++{
++    namespace filesystem = boost::filesystem;
++    namespace system = boost::system;
++}
++
+ namespace FileUtils
+ {
+ 

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

@@ -0,0 +1,109 @@
+{
+  "name": "pdal",
+  "version": "2.3.0",
+  "description": "PDAL - Point Data Abstraction Library is a library for manipulating point cloud data.",
+  "homepage": "https://pdal.io/",
+  "supports": "!(windows & staticcrt)",
+  "dependencies": [
+    "boost-filesystem",
+    "boost-system",
+    {
+      "name": "curl",
+      "default-features": false
+    },
+    {
+      "name": "gdal",
+      "default-features": false
+    },
+    "libgeotiff",
+    "libxml2",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "default-features": [
+    "laszip",
+    "supported-plugins"
+  ],
+  "features": {
+    "draco": {
+      "description": "Build the Draco plugin",
+      "dependencies": [
+        "draco"
+      ]
+    },
+    "e57": {
+      "description": "Build the E57 plugin",
+      "dependencies": [
+        "xerces-c"
+      ]
+    },
+    "hdf": {
+      "description": "Build the HDF plugin",
+      "dependencies": [
+        {
+          "name": "hdf5",
+          "default-features": false
+        }
+      ]
+    },
+    "i3s": {
+      "description": "Build the SLPK/I3S plugins",
+      "dependencies": [
+        "zlib"
+      ]
+    },
+    "laszip": {
+      "description": "LASzip support",
+      "dependencies": [
+        "laszip"
+      ]
+    },
+    "liblzma": {
+      "description": "Support for compression/decompression with LZMA",
+      "dependencies": [
+        "liblzma"
+      ]
+    },
+    "pgpointcloud": {
+      "description": "Build the PgPointCloud plugin",
+      "dependencies": [
+        "libpq"
+      ]
+    },
+    "supported-plugins": {
+      "description": "Default set of plugins, dependent on platform",
+      "dependencies": [
+        {
+          "name": "pdal",
+          "default-features": false,
+          "features": [
+            "draco",
+            "e57",
+            "i3s"
+          ]
+        },
+        {
+          "name": "pdal",
+          "default-features": false,
+          "features": [
+            "hdf",
+            "pgpointcloud"
+          ],
+          "platform": "!uwp"
+        }
+      ]
+    },
+    "zstd": {
+      "description": "Support for ZSTD compression/decompression",
+      "dependencies": [
+        "zstd"
+      ]
+    }
+  }
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pdcurses/LICENSE

@@ -0,0 +1,7 @@
+The core package is in the public domain, but small portions of PDCurses are subject to copyright under various licenses.
+
+The win32 files are released to the public domain.
+
+If you use PDCurses in an application, an acknowledgement would be appreciated, but is not mandatory. If you make corrections or enhancements to PDCurses, please forward them to the current maintainer for the benefit of other users.
+
+This software is provided AS IS with NO WARRANTY whatsoever.

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pdcurses/nmake-install.patch

@@ -0,0 +1,21 @@
+diff --git a/wincon/Makefile.vc b/wincon/Makefile.vc
+index 80c4689..1bae388 100644
+--- a/wincon/Makefile.vc
++++ b/wincon/Makefile.vc
+@@ -118,3 +118,16 @@ tui.obj: $(demodir)\tui.c $(demodir)\tui.h
+ 
+ tuidemo.obj: $(demodir)\tuidemo.c
+ 	$(BUILD) -I$(demodir) $(demodir)\tuidemo.c
++
++install: all
++	-mkdir $(INSTALLDIR)\lib
++	copy pdcurses.lib $(INSTALLDIR)\lib
++!ifdef DLL
++	-mkdir $(INSTALLDIR)\bin
++	copy pdcurses.dll $(INSTALLDIR)\bin
++!endif
++!ifndef SKIP_HEADERS
++	-mkdir $(INSTALLDIR)\include
++	copy $(PDCURSES_SRCDIR)\curses.h $(INSTALLDIR)\include
++	copy $(PDCURSES_SRCDIR)\panel.h $(INSTALLDIR)\include
++!endif

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

@@ -0,0 +1,42 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO wmcbrine/PDCurses
+    REF 6c1f95c4fa9f9f105879c2d99dd72a5bf335c046 # 3.9
+    SHA512 2d682a3516baaa58a97854aca64d985768b7af76d998240b54afc57ddf2a44894835a1748888f8dd7c1cc8045ede77488284f8adf1b73878879b4b4d3391218d
+    HEAD_REF master
+    PATCHES
+        nmake-install.patch
+)
+ 
+if(VCPKG_TARGET_IS_WINDOWS AND NOT VCPKG_TARGET_IS_MINGW)
+    cmake_path(NATIVE_PATH SOURCE_PATH  PDCURSES_SRCDIR)
+    set(DLL_OPTION "")
+    if (VCPKG_LIBRARY_LINKAGE STREQUAL "dynamic")
+        set(DLL_OPTION DLL=Y)
+    endif()
+    vcpkg_build_nmake(
+        SOURCE_PATH "${SOURCE_PATH}/wincon"
+        PROJECT_NAME Makefile.vc
+        ENABLE_INSTALL
+        OPTIONS
+            /A
+            "PDCURSES_SRCDIR=${PDCURSES_SRCDIR}"
+            WIDE=Y
+            UTF8=Y
+            ${DLL_OPTION}
+        OPTIONS_RELEASE
+            "CFLAGS=-D_CRT_SECURE_NO_WARNINGS"
+            "LDFLAGS="
+        OPTIONS_DEBUG
+            "CFLAGS=-D_CRT_SECURE_NO_WARNINGS -DPDCDEBUG"
+            "LDFLAGS=-debug"
+            DEBUG=Y
+            SKIP_HEADERS=Y
+    )
+    vcpkg_copy_pdbs()
+    if (VCPKG_LIBRARY_LINKAGE STREQUAL "dynamic")
+        vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/curses.h" "#ifdef PDC_DLL_BUILD" "#if 1")
+    endif()
+endif()
+
+file(INSTALL "${CMAKE_CURRENT_LIST_DIR}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,8 @@
+{
+  "name": "pdcurses",
+  "version-string": "3.9",
+  "port-version": 3,
+  "description": "Public Domain Curses - a curses library for environments that don't fit the termcap/terminfo model.",
+  "homepage": "https://pdcurses.org/",
+  "supports": "windows & !uwp & !mingw"
+}

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

@@ -0,0 +1,13 @@
+vcpkg_from_github(
+	OUT_SOURCE_PATH SOURCE_PATH
+	REPO orlp/pdqsort
+	REF 08879029ab8dcb80a70142acb709e3df02de5d37
+	SHA512 38e8b6e35edf1e88e26850a13ce892d8adc0d3e1d7954287d024b3bb858a6b2284e25fbf7c92a694b3ec77cacaf6bbc27fc365187115f7cca6bc88088f67a18f
+	HEAD_REF master
+)
+
+file(COPY ${SOURCE_PATH}/pdqsort.h  DESTINATION ${CURRENT_PACKAGES_DIR}/include/pdqsort)
+
+# Handle copyright
+file(COPY ${SOURCE_PATH}/license.txt ${SOURCE_PATH}/readme.md DESTINATION ${CURRENT_PACKAGES_DIR}/share/pdqsort)
+file(RENAME ${CURRENT_PACKAGES_DIR}/share/pdqsort/license.txt ${CURRENT_PACKAGES_DIR}/share/pdqsort/copyright)

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

@@ -0,0 +1,7 @@
+{
+  "name": "pdqsort",
+  "version-string": "2019-07-30",
+  "port-version": 1,
+  "description": "Pattern-defeating quicksort (pdqsort) is a novel sorting algorithm",
+  "homepage": "https://github.com/orlp/pdqsort"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/pe-parse/arm64-windows-fix.patch

@@ -0,0 +1,13 @@
+find_package(Filesystem) fails on arm64 Windows.
+We can remove it as it is only used for tests which are not built in vcpkg.
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -15,7 +15,6 @@ endif ()
+ include(cmake/compilation_flags.cmake)
+ # Greater c++17 filesystem compatibility (like with experimental)
+ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
+-find_package(Filesystem COMPONENTS Experimental Final REQUIRED)
+ list(APPEND GLOBAL_CXXFLAGS ${DEFAULT_CXX_FLAGS})
+ 
+ option(BUILD_SHARED_LIBS "Build Shared Libraries" ON)

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

@@ -0,0 +1,24 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO trailofbits/pe-parse
+    REF v1.3.0
+    SHA512 b723e90821e0ac67b4d6b15e5a46cf13544f21380a4d2add013eedcaa309e1be2cff6789247397c6fb4a938e4a240a835cbe21c8221bd558a4fccf8e93ce1548
+    HEAD_REF master
+    PATCHES
+        arm64-windows-fix.patch
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DBUILD_COMMAND_LINE_TOOLS=OFF
+)
+
+vcpkg_cmake_install()
+
+vcpkg_cmake_config_fixup(CONFIG_PATH "lib/cmake/pe-parse")
+
+file(REMOVE_RECURSE "${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/pe-parse/vcpkg.json

@@ -0,0 +1,17 @@
+{
+  "name": "pe-parse",
+  "version": "1.3.0",
+  "description": "pe-parse is a principled, lightweight C/C++ PE parser",
+  "homepage": "https://github.com/trailofbits/pe-parse",
+  "supports": "!uwp",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

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

@@ -0,0 +1,25 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO taocpp/pegtl
+    REF 3.2.5
+    SHA512 e531eaeef614d822e4bddbc6662fbe116cc1536fa308109f28ce5433607e6102f4e754a31094f9c349e4319914da6c83450dd2e8fa10dcfc3eee5a5dca547c14
+    HEAD_REF main
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DPEGTL_BUILD_TESTS=OFF
+        -DPEGTL_BUILD_EXAMPLES=OFF
+        -DPEGTL_INSTALL_DOC_DIR=share/pegtl
+        -DPEGTL_INSTALL_CMAKE_DIR=share/pegtl/cmake
+)
+
+vcpkg_cmake_install()
+
+vcpkg_cmake_config_fixup(CONFIG_PATH share/pegtl/cmake)
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug")
+
+# Handle copyright
+file(RENAME "${CURRENT_PACKAGES_DIR}/share/${PORT}/LICENSE" "${CURRENT_PACKAGES_DIR}/share/${PORT}/copyright")

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

@@ -0,0 +1,17 @@
+{
+  "name": "pegtl",
+  "version-semver": "3.2.5",
+  "description": "The Parsing Expression Grammar Template Library (PEGTL) is a zero-dependency C++ header-only parser combinator library for creating parsers according to a Parsing Expression Grammar (PEG).",
+  "homepage": "https://github.com/taocpp/PEGTL",
+  "license": "MIT",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}