b490c9e40cd61b4bf9ab1157ad757a2c7d0ffac8477f87cc23896e212c3839b4

third-party/DPVO/Pangolin/scripts/vcpkg/ports/capstone/001-silence-windows-crt-secure-warnings.patch

@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index f5f4448..5e5cc7e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -87,6 +87,10 @@ if(CAPSTONE_BUILD_STATIC_RUNTIME)
+     set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>")
+ endif()
+ 
++if(WIN32)
++    add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
++endif()
++
+ ## sources
+ set(SOURCES_ENGINE
+     cs.c

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

@@ -0,0 +1,52 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REF d5141c04785678535c7792eddc21f146186e639f # 5.0.0-rc2
+    REPO "capstone-engine/capstone"
+    SHA512 de9cf7da9fc3e502165b28b998b472791c8d5366e1a1a1fabd6bb8856a6fae80bf7d1fc4d268572d69c3526161bb0509a598ad4d94207e25a62aff6a5f9e9404
+    HEAD_REF next
+    PATCHES
+        001-silence-windows-crt-secure-warnings.patch
+)
+
+string(COMPARE EQUAL "${VCPKG_CRT_LINKAGE}" "static" STATIC_CRT)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        "arm"         CAPSTONE_ARM_SUPPORT
+        "arm64"       CAPSTONE_ARM64_SUPPORT
+        "evm"         CAPSTONE_EVM_SUPPORT
+        "m680x"       CAPSTONE_M680X_SUPPORT
+        "m68k"        CAPSTONE_M68K_SUPPORT
+        "mips"        CAPSTONE_MIPS_SUPPORT
+        "osxkernel"   CAPSTONE_OSXKERNEL_SUPPORT
+        "ppc"         CAPSTONE_PPC_SUPPORT
+        "sparc"       CAPSTONE_SPARC_SUPPORT
+        "sysz"        CAPSTONE_SYSZ_SUPPORT
+        "tms320c64x"  CAPSTONE_TMS320C64X_SUPPORT
+        "x86"         CAPSTONE_X86_SUPPORT
+        "x86-reduce"  CAPSTONE_X86_REDUCE
+        "xcore"       CAPSTONE_XCORE_SUPPORT
+        "diet"        CAPSTONE_BUILD_DIET
+)
+
+if ("osxkernel" IN_LIST FEATURES AND NOT VCPKG_TARGET_IS_OSX)
+    message(FATAL_ERROR "Feature 'osxkernel' only supported in OSX")
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DCAPSTONE_BUILD_TESTS=OFF
+        -DCAPSTONE_BUILD_CSTOOL=OFF
+        -DCAPSTONE_BUILD_STATIC_RUNTIME=${STATIC_CRT}
+        ${FEATURE_OPTIONS}
+)
+
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/${PORT})
+vcpkg_fixup_pkgconfig()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+file(INSTALL "${SOURCE_PATH}/LICENSE.TXT" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,71 @@
+{
+  "name": "capstone",
+  "version": "5.0.0-rc2",
+  "description": "Multi-architecture disassembly framework",
+  "homepage": "https://github.com/capstone-engine/capstone",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "features": {
+    "arm": {
+      "description": "Capstone disassembly support for ARM"
+    },
+    "arm64": {
+      "description": "Capstone disassembly support for ARM64"
+    },
+    "diet": {
+      "description": "Build Capstone in diet mode (reduced features for smaller size)"
+    },
+    "evm": {
+      "description": "Capstone disassembly support for EVM"
+    },
+    "m680x": {
+      "description": "Capstone disassembly support for M680X"
+    },
+    "m68k": {
+      "description": "Capstone disassembly support for M68k"
+    },
+    "mips": {
+      "description": "Capstone disassembly support for MIPS"
+    },
+    "osxkernel": {
+      "description": "Support for embedding Capstone into OSX Kernel extensions"
+    },
+    "ppc": {
+      "description": "Capstone disassembly support for PowerPC"
+    },
+    "sparc": {
+      "description": "Capstone disassembly support for SPARC"
+    },
+    "sysz": {
+      "description": "Capstone disassembly support for SysZ"
+    },
+    "tms320c64x": {
+      "description": "Capstone disassembly support for TMS320C64X"
+    },
+    "x86": {
+      "description": "Capstone disassembly support for x86"
+    },
+    "x86-reduce": {
+      "description": "Capstone disassembly support for x86 without support for less used instructions",
+      "dependencies": [
+        {
+          "name": "capstone",
+          "features": [
+            "x86"
+          ]
+        }
+      ]
+    },
+    "xcore": {
+      "description": "Capstone disassembly support for XCore"
+    }
+  }
+}

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

@@ -0,0 +1,21 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO likle/cargs
+    REF v1.0.3
+    SHA512 4f82f6857af6ae7bd1263f4c812a770fa3c3f94c84d5a0ba6256289a3d3084cd35b3aca6769241451d2acd57577ccc6638327b5bb70328800e9c3c4f5054f7de
+    HEAD_REF master
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DENABLE_TESTS=OFF
+)
+
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/cargs)
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(INSTALL "${SOURCE_PATH}/LICENSE.md" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,16 @@
+{
+  "name": "cargs",
+  "version": "1.0.3",
+  "description": "A lightweight cross-platform getopt alternative that works on Linux, Windows and macOS. Command line argument parser library for C/C++. Can be used to parse argv and argc parameters.",
+  "homepage": "https://likle.github.io/cargs/",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

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

@@ -0,0 +1,25 @@
+diff --git a/cartographer/common/internal/testing/thread_pool_for_testing.cc b/cartographer/common/internal/testing/thread_pool_for_testing.cc
+index f804e13..c987f68 100644
+--- a/cartographer/common/internal/testing/thread_pool_for_testing.cc
++++ b/cartographer/common/internal/testing/thread_pool_for_testing.cc
+@@ -16,7 +16,7 @@
+ 
+ #include "cartographer/common/internal/testing/thread_pool_for_testing.h"
+ 
+-#include <unistd.h>
++//#include <unistd.h>
+ #include <algorithm>
+ #include <chrono>
+ #include <numeric>
+diff --git a/cartographer/mapping/pose_graph_interface.h b/cartographer/mapping/pose_graph_interface.h
+index 6483ef4..6456720 100644
+--- a/cartographer/mapping/pose_graph_interface.h
++++ b/cartographer/mapping/pose_graph_interface.h
+@@ -18,6 +18,7 @@
+ #define CARTOGRAPHER_MAPPING_POSE_GRAPH_INTERFACE_H_
+ 
+ #include <vector>
++#include <array>
+ 
+ #include "cartographer/common/optional.h"
+ #include "cartographer/mapping/id.h"

third-party/DPVO/Pangolin/scripts/vcpkg/ports/cartographer/fix-cmake-location.patch

@@ -0,0 +1,22 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 2e3a686be..f2a0c5d8e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -300,7 +300,7 @@ foreach(HDR ${INSTALL_GENERATED_HDRS})
+   )
+ endforeach()
+ 
+-set(CARTOGRAPHER_CMAKE_DIR share/cartographer/cmake)
++set(CARTOGRAPHER_CMAKE_DIR share/cartographer)
+ include(CMakePackageConfigHelpers)
+ configure_package_config_file(
+   cartographer-config.cmake.in
+@@ -311,7 +311,7 @@ configure_package_config_file(
+ 
+ install(
+   EXPORT CartographerExport
+-  DESTINATION share/cartographer/cmake/
++  DESTINATION share/cartographer/
+   FILE CartographerTargets.cmake
+ )
+ 

third-party/DPVO/Pangolin/scripts/vcpkg/ports/cartographer/fix-find-packages.patch

@@ -0,0 +1,181 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 2e3a686..f36f15a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -25,27 +25,33 @@ option(BUILD_GRPC "build Cartographer gRPC support" false)
+ option(BUILD_PROMETHEUS "build Prometheus monitoring support" false)
+ 
+ include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
+-google_initialize_cartographer_project()
+-google_enable_testing()
++#google_initialize_cartographer_project()
++#google_enable_testing()
+ 
+ find_package(Boost REQUIRED COMPONENTS iostreams)
+ find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
+ find_package(Eigen3 REQUIRED)
+-find_package(LuaGoogle REQUIRED)
++find_package(Lua REQUIRED)
+ find_package(Protobuf 3.0.0 REQUIRED)
++find_package(glog REQUIRED)
++find_package(gflags REQUIRED)
+ 
+ if (${BUILD_GRPC})
+   find_package(async_grpc REQUIRED)
+ endif()
+ 
+-include(FindPkgConfig)
+-PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
++#include(FindPkgConfig)
++#PKG_SEARCH_MODULE(CAIRO REQUIRED cairo>=1.12.16)
++#if(CMAKE_BUILD_TYPE STREQUAL Debug)
++#    set(CAIRO_LIB_SUFFIX d)
++#endif()
++find_library(CAIRO_LIBRARY cairo${CAIRO_LIB_SUFFIX})
+ 
+ # Only build the documentation if we can find Sphinx.
+-find_package(Sphinx)
+-if(SPHINX_FOUND)
+-  add_subdirectory("docs")
+-endif()
++#find_package(Sphinx)
++#if(SPHINX_FOUND)
++#  add_subdirectory("docs")
++#endif()
+ 
+ # Install catkin package.xml
+ install(FILES package.xml DESTINATION share/cartographer)
+@@ -169,20 +175,20 @@ configure_file(
+   ${PROJECT_SOURCE_DIR}/cartographer/common/config.h.cmake
+   ${PROJECT_BINARY_DIR}/cartographer/common/config.h)
+ 
+-google_binary(cartographer_autogenerate_ground_truth
+-  SRCS
+-    cartographer/ground_truth/autogenerate_ground_truth_main.cc
+-)
+-
+-google_binary(cartographer_compute_relations_metrics
+-  SRCS
+-    cartographer/ground_truth/compute_relations_metrics_main.cc
+-)
+-
+-google_binary(cartographer_migrate_serialization_format
+-  SRCS
+-    cartographer/io/migrate_serialization_format_main.cc
+-)
++#google_binary(cartographer_autogenerate_ground_truth
++#  SRCS
++#    cartographer/ground_truth/autogenerate_ground_truth_main.cc
++#)
++#
++#google_binary(cartographer_compute_relations_metrics
++#  SRCS
++#    cartographer/ground_truth/compute_relations_metrics_main.cc
++#)
++#
++#google_binary(cartographer_migrate_serialization_format
++#  SRCS
++#    cartographer/io/migrate_serialization_format_main.cc
++#)
+ 
+ if(${BUILD_GRPC})
+   google_binary(cartographer_grpc_server
+@@ -213,8 +219,9 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+ target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES})
+ 
+ # We expect find_package(Ceres) to have located these for us.
+-target_link_libraries(${PROJECT_NAME} PUBLIC glog)
+-target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
++#target_link_libraries(${PROJECT_NAME} PUBLIC glog)
++#target_link_libraries(${PROJECT_NAME} PUBLIC gflags)
++#target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARY})
+ 
+ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+   "${CAIRO_INCLUDE_DIRS}")
+@@ -224,7 +231,8 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
+   ${PROTOBUF_INCLUDE_DIR})
+ # TODO(hrapp): This should not explicitly list pthread and use
+ # PROTOBUF_LIBRARIES, but that failed on first try.
+-target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
++#target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} pthread)
++target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY})
+ if(${BUILD_GRPC})
+   target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
+   target_link_libraries(${PROJECT_NAME} PUBLIC async_grpc)
+@@ -234,7 +242,7 @@ if(${BUILD_PROMETHEUS})
+   target_compile_definitions(${PROJECT_NAME} PUBLIC USE_PROMETHEUS=1)
+ endif()
+ 
+-set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
++set(TARGET_COMPILE_FLAGS "-D_DISABLE_EXTENDED_ALIGNED_STORAGE ${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
+ set_target_properties(${PROJECT_NAME} PROPERTIES
+   COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
+ 
+@@ -255,7 +263,7 @@ foreach(ABS_FIL ${ALL_TESTS})
+   get_filename_component(FIL_WE ${REL_FIL} NAME_WE)
+   # Replace slashes as required for CMP0037.
+   string(REPLACE "/" "." TEST_TARGET_NAME "${DIR}/${FIL_WE}")
+-  google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
++  #google_test("${TEST_TARGET_NAME}" ${ABS_FIL})
+   if(${BUILD_GRPC})
+     target_link_libraries("${TEST_TARGET_NAME}" PUBLIC grpc++)
+     target_link_libraries("${TEST_TARGET_NAME}" PUBLIC async_grpc)
+@@ -263,7 +271,7 @@ foreach(ABS_FIL ${ALL_TESTS})
+   if(${BUILD_PROMETHEUS})
+     target_link_libraries("${TEST_TARGET_NAME}" PUBLIC prometheus-cpp)
+   endif()
+-  target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
++  #target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
+ endforeach()
+ 
+ # Add the binary directory first, so that port.h is included after it has
+diff --git a/cartographer/common/math.h b/cartographer/common/math.h
+index c4a77ef..0248f66 100644
+--- a/cartographer/common/math.h
++++ b/cartographer/common/math.h
+@@ -17,6 +17,10 @@
+ #ifndef CARTOGRAPHER_COMMON_MATH_H_
+ #define CARTOGRAPHER_COMMON_MATH_H_
+ 
++#ifndef M_PI
++#define M_PI 3.14159265358979323846
++#endif
++
+ #include <cmath>
+ #include <vector>
+ 
+diff --git a/cartographer/common/thread_pool.cc b/cartographer/common/thread_pool.cc
+index bc3c743..db424d1 100644
+--- a/cartographer/common/thread_pool.cc
++++ b/cartographer/common/thread_pool.cc
+@@ -16,7 +16,7 @@
+ 
+ #include "cartographer/common/thread_pool.h"
+ 
+-#include <unistd.h>
++//#include <unistd.h>
+ #include <algorithm>
+ #include <chrono>
+ #include <numeric>
+diff --git a/cmake/functions.cmake b/cmake/functions.cmake
+index 3bfd343..3d961b0 100644
+--- a/cmake/functions.cmake
++++ b/cmake/functions.cmake
+@@ -118,12 +118,12 @@ macro(google_initialize_cartographer_project)
+   set(LIST_FILES_CMD "find ${PROJECT_SOURCE_DIR}/ -not -iwholename '*.git*' | sort | sed 's/^/#/'")
+   set(FILES_LIST_PATH "${PROJECT_BINARY_DIR}/AllFiles.cmake")
+   set(DETECT_CHANGES_CMD "bash" "-c" "${LIST_FILES_CMD} | diff -N -q ${FILES_LIST_PATH} - || ${LIST_FILES_CMD} > ${FILES_LIST_PATH}")
+-  add_custom_target(${PROJECT_NAME}_detect_changes ALL
+-    COMMAND ${DETECT_CHANGES_CMD}
+-    VERBATIM
+-  )
++  #add_custom_target(${PROJECT_NAME}_detect_changes ALL
++  #  COMMAND ${DETECT_CHANGES_CMD}
++  #  VERBATIM
++  #)
+   if(NOT EXISTS ${FILES_LIST_PATH})
+-    execute_process(COMMAND ${DETECT_CHANGES_CMD})
++    #execute_process(COMMAND ${DETECT_CHANGES_CMD})
+   endif()
+   include(${FILES_LIST_PATH})
+ endmacro()

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

@@ -0,0 +1,36 @@
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO googlecartographer/cartographer
+    REF 1.0.0
+    SHA512 4e3b38ee40d9758cbd51f087578b82efb7d1199b4b7696d31f45938ac06250caaea2b4d85ccb0a848c958ba187a0101ee95c87323ca236c613995b23b215041c
+    HEAD_REF master
+	PATCHES
+        fix-find-packages.patch
+        fix-build-error.patch
+        fix-cmake-location.patch
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DGFLAGS_PREFER_EXPORTED_GFLAGS_CMAKE_CONFIGURATION=OFF
+        -DGLOG_PREFER_EXPORTED_GLOG_CMAKE_CONFIGURATION=OFF
+        -Dgtest_disable_pthreads=ON
+        -DCMAKE_USE_PTHREADS_INIT=OFF
+    OPTIONS_DEBUG
+        -DFORCE_DEBUG_BUILD=True
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup()
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/share/cartographer/CartographerTargets.cmake" "${SOURCE_PATH}/;" "")
+vcpkg_copy_pdbs()
+
+# Clean
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+
+# Handle copyright of cartographer
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,30 @@
+{
+  "name": "cartographer",
+  "version": "1.0.0",
+  "port-version": 5,
+  "description": "Google 2D & 3D SLAM package",
+  "homepage": "https://github.com/googlecartographer/cartographer",
+  "dependencies": [
+    "boost-iostreams",
+    "cairo",
+    {
+      "name": "ceres",
+      "features": [
+        "suitesparse"
+      ]
+    },
+    "gflags",
+    "glog",
+    "gtest",
+    "lua",
+    "protobuf",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/casclib/fix-shared-windows-builds.patch

@@ -0,0 +1,20 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -51,8 +51,15 @@ set(SRC_FILES
+     src/CascRootFile_WoW.cpp
+ )
+ 
++if(WIN32)
++    set(SRC_FILES ${SRC_FILES}
++        src/DllMain.c
++        src/DllMain.def
++    )
++endif()
++
+ set(LINK_LIBS)
+-find_package(ZLIB)
++find_package(ZLIB REQUIRED)
+ if (ZLIB_FOUND)
+     set(LINK_LIBS ${LINK_LIBS} ZLIB::ZLIB)
+     add_definitions(-DCASC_USE_SYSTEM_ZLIB)

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

@@ -0,0 +1,29 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO ladislav-zezula/CascLib
+    REF 07bfe85fd0804cba49f072819af716274d82b855
+    SHA512 b333fe6318aa95629aa67613287ac71b1931c6443985e7e52412066d769f7996bffca1c19e890851eba976f572c7a11f14a8ff5fb95433577e1c9af8de0f34af
+    HEAD_REF master
+    PATCHES
+        fix-shared-windows-builds.patch
+)
+
+string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "dynamic" CASC_BUILD_SHARED_LIB)
+string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "static" CASC_BUILD_STATIC_LIB)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DCASC_BUILD_SHARED_LIB=${CASC_BUILD_SHARED_LIB}
+        -DCASC_BUILD_STATIC_LIB=${CASC_BUILD_STATIC_LIB}
+        -DCASC_UNICODE=ON
+)
+
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/CascLib)
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,18 @@
+{
+  "name": "casclib",
+  "version-date": "2021-11-16",
+  "port-version": 1,
+  "description": "An open-source implementation of library for reading CASC storage from Blizzard games since 2014",
+  "homepage": "http://www.zezula.net/en/casc/casclib.html",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    },
+    "zlib"
+  ]
+}

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

@@ -0,0 +1,16 @@
+set(CATCH_VERSION v1.12.2)
+
+vcpkg_download_distfile(HEADER
+    URLS "https://github.com/catchorg/Catch2/releases/download/${CATCH_VERSION}/catch.hpp"
+    FILENAME "catch-classic-${CATCH_VERSION}.hpp"
+    SHA512 d2cf8b2fe95aae061a7771a0e1b7135583595d1f36dfc8d5e4d10e101ab58f6fac9d260f77c5760906c24aa402d7433aa82b5d6a0ca6b3ad91092dc5cc2d9c22
+)
+
+vcpkg_download_distfile(LICENSE
+    URLS "https://raw.githubusercontent.com/catchorg/Catch2/${CATCH_VERSION}/LICENSE.txt"
+    FILENAME "catch-classic-LICENSE-${CATCH_VERSION}.txt"
+    SHA512 d6078467835dba8932314c1c1e945569a64b065474d7aced27c9a7acc391d52e9f234138ed9f1aa9cd576f25f12f557e0b733c14891d42c16ecdc4a7bd4d60b8
+)
+
+file(INSTALL ${HEADER} DESTINATION ${CURRENT_PACKAGES_DIR}/include RENAME catch.hpp)
+file(INSTALL ${LICENSE} DESTINATION ${CURRENT_PACKAGES_DIR}/share/catch-classic RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/catch-classic/vcpkg.json

@@ -0,0 +1,11 @@
+{
+  "name": "catch-classic",
+  "version-string": "1.12.2",
+  "port-version": 1,
+  "description": [
+    "A modern, header-only test framework for unit tests",
+    "This is specifically the legacy 1.x branch provided for compatibility",
+    "with older compilers."
+  ],
+  "homepage": "https://github.com/catchorg/Catch2"
+}

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

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

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

@@ -0,0 +1,9 @@
+{
+  "name": "catch",
+  "version-string": "alias",
+  "port-version": 1,
+  "description": "Deprecated alias for Catch2 unit testing framework",
+  "dependencies": [
+    "catch2"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/catch2/fix-install-path.patch

@@ -0,0 +1,22 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 0370ea3..7cef01a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -146,7 +146,7 @@ if (NOT_SUBPROJECT)
+       EXPORT
+         Catch2Targets
+       DESTINATION
+-        ${CMAKE_INSTALL_LIBDIR}
++        ${CMAKE_INSTALL_LIBDIR}/manual-link
+     )
+ 
+ 
+@@ -226,7 +226,7 @@ if (NOT_SUBPROJECT)
+ 
+     ## Provide some pkg-config integration
+     set(PKGCONFIG_INSTALL_DIR
+-        "${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig"
++        "${CMAKE_INSTALL_LIBDIR}/pkgconfig"
+         CACHE PATH "Path where catch2.pc is installed"
+     )
+     configure_file(

third-party/DPVO/Pangolin/scripts/vcpkg/ports/catch2/portfile.cmake

@@ -0,0 +1,43 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO catchorg/Catch2
+    REF v2.13.8
+    SHA512 68a45efa47beb3c85d2d7b8a8eba89b8ec1664b4a72bb223227fef1632778aeaf5cf5cc09f40e47aef50426c8661c7d6a69c2dab0b88fbbf7d9a6b2974d6e32e
+    HEAD_REF devel
+    PATCHES 
+        fix-install-path.patch
+)
+
+string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "static" BUILD_STATIC)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DBUILD_TESTING=OFF
+        -DCATCH_BUILD_EXAMPLES=OFF
+        -DCATCH_INSTALL_DOCS=OFF
+        -DCATCH_BUILD_STATIC_LIBRARY=${BUILD_STATIC}
+)
+
+vcpkg_cmake_install()
+if (NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
+    file(RENAME "${CURRENT_PACKAGES_DIR}/share/Catch2" "${CURRENT_PACKAGES_DIR}/share/catch2_")
+    file(RENAME "${CURRENT_PACKAGES_DIR}/share/catch2_" "${CURRENT_PACKAGES_DIR}/share/catch2")
+endif()
+if (NOT DEFINED VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+    file(RENAME "${CURRENT_PACKAGES_DIR}/debug/share/Catch2" "${CURRENT_PACKAGES_DIR}/debug/share/catch2_")
+    file(RENAME "${CURRENT_PACKAGES_DIR}/debug/share/catch2_" "${CURRENT_PACKAGES_DIR}/debug/share/catch2")
+endif()
+
+vcpkg_cmake_config_fixup(CONFIG_PATH "lib/cmake/Catch2")
+vcpkg_fixup_pkgconfig()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
+
+if(NOT EXISTS "${CURRENT_PACKAGES_DIR}/include/catch2/catch.hpp")
+    message(FATAL_ERROR "Main includes have moved. Please update the forwarder.")
+endif()
+
+file(WRITE "${CURRENT_PACKAGES_DIR}/include/catch.hpp" "#include <catch2/catch.hpp>")
+file(INSTALL "${SOURCE_PATH}/LICENSE.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/catch2/vcpkg.json

@@ -0,0 +1,18 @@
+{
+  "name": "catch2",
+  "version-semver": "2.13.8",
+  "port-version": 1,
+  "description": "A modern, header-only test framework for unit testing.",
+  "homepage": "https://github.com/catchorg/Catch2",
+  "license": "BSL-1.0",
+  "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/cccapstone/fix-include-path.patch

@@ -0,0 +1,24 @@
+diff --git a/cppbindings/CsCapstoneHelper.hh b/cppbindings/CsCapstoneHelper.hh
+index daf7a73..8ed5194 100644
+--- a/cppbindings/CsCapstoneHelper.hh
++++ b/cppbindings/CsCapstoneHelper.hh
+@@ -1,6 +1,6 @@
+ #pragma once
+ 
+-#include <capstone.h>
++#include <capstone/capstone.h>
+ #include <memory>
+ 
+ struct CS_HANDLE :
+diff --git a/cppbindings/CsIns.hpp b/cppbindings/CsIns.hpp
+index 6e8ba71..c723be9 100644
+--- a/cppbindings/CsIns.hpp
++++ b/cppbindings/CsIns.hpp
+@@ -1,6 +1,6 @@
+ #pragma once
+ 
+-#include <capstone.h>
++#include <capstone/capstone.h>
+ #include "CsCapstoneHelper.hh"
+ 
+ //x86_insn_group, x86_reg, x86_op_type, x86_insn

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

@@ -0,0 +1,11 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REF 9b4128ee1153e78288a1b5433e2c06a0d47a4c4e
+    REPO zer0mem/cccapstone
+    SHA512 d0023586281f921314dbba501fa2c06d822b1adba0a0c32f30b78628ee935e5822caebe3881a5d1cc4cc696b82a7e348044d887a7f652303359d2853d2ee45fb
+    HEAD_REF master
+    PATCHES fix-include-path.patch
+)
+
+file(INSTALL ${SOURCE_PATH}/cppbindings/ DESTINATION ${CURRENT_PACKAGES_DIR}/include/cccapstone/cppbindings)
+file(INSTALL ${SOURCE_PATH}/README.md DESTINATION ${CURRENT_PACKAGES_DIR}/share/cccapstone RENAME copyright)

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

@@ -0,0 +1,10 @@
+{
+  "name": "cccapstone",
+  "version-string": "9b4128ee1153e78288a1b5433e2c06a0d47a4c4e",
+  "port-version": 2,
+  "description": "c++ bindings for capstone disasembly framework",
+  "homepage": "https://github.com/zer0mem/cccapstone",
+  "dependencies": [
+    "capstone"
+  ]
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ccd/fix-static.patch

@@ -0,0 +1,13 @@
+diff --git a/src/ccd/ccd_export.h b/src/ccd/ccd_export.h
+index e898d41..c6aa5fb 100644
+--- a/src/ccd/ccd_export.h
++++ b/src/ccd/ccd_export.h
+@@ -1,7 +1,7 @@
+ #ifndef CCD_EXPORT_H
+ #define CCD_EXPORT_H
+ 
+-#ifdef CCD_STATIC_DEFINE
++#if 1
+ #  define CCD_EXPORT
+ #else
+ #  ifdef _MSC_VER

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

@@ -0,0 +1,35 @@
+if(VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    set(STATIC_PATCH fix-static.patch)
+endif()
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO danfis/libccd
+    REF v2.1
+    SHA512 ff037d9c4df50f09600cf9b3514b259b2850ff43f74817853f5665d22812891168f70bd3cc3969b2c9e3c706f6254991a65421476349607fbd04d894b217456d
+    HEAD_REF master
+    # Backport https://github.com/danfis/libccd/pull/70 to support Emscripten
+    PATCHES
+        "support-emscripten.patch"
+        ${STATIC_PATCH}
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS
+        -DBUILD_TESTING=OFF
+)
+
+vcpkg_install_cmake()
+vcpkg_copy_pdbs()
+
+vcpkg_fixup_cmake_targets(CONFIG_PATH lib/ccd)
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/share)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/share/doc)
+
+file(INSTALL ${SOURCE_PATH}/BSD-LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)
+
+vcpkg_fixup_pkgconfig()

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ccd/support-emscripten.patch

@@ -0,0 +1,25 @@
+From c3616f28d33019047e8e71df8abeb0493159539e Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio@traversaro.it>
+Date: Sun, 17 May 2020 11:42:24 +0200
+Subject: [PATCH] Fix configuration with  Emscripten
+
+In Emscripten there is no separate libm library, so there is no need to explicitly link it,
+and in particular the find_library call would fail as there is not libm to find.
+See https://stackoverflow.com/questions/24663915/how-can-i-link-libm-to-my-emscripten-port
+---
+ src/CMakeLists.txt | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 1407080..357ed76 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -48,7 +48,7 @@ target_include_directories(ccd PUBLIC
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+ 
+-if(NOT WIN32)
++if(NOT WIN32 AND NOT (CMAKE_SYSTEM_NAME STREQUAL "Emscripten"))
+   find_library(LIBM_LIBRARY NAMES m)
+   if(NOT LIBM_LIBRARY)
+     message(FATAL_ERROR "Could NOT find required library LibM")

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

@@ -0,0 +1,7 @@
+{
+  "name": "ccd",
+  "version-string": "2.1-4",
+  "port-version": 3,
+  "description": "Library for collision detection between two convex shapes",
+  "homepage": "https://github.com/danfis/libccd"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ccfits/dll_exports.patch

@@ -0,0 +1,488 @@
+diff --git a/FITS.h b/FITS.h
+index e21f3db..3e97c83 100644
+--- a/FITS.h
++++ b/FITS.h
+@@ -21,6 +21,8 @@
+ #include "HDUCreator.h"
+ // FitsError
+ #include "FitsError.h"
++//DLL Exporting
++#include "ccfits_export.h"
+ 
+ namespace CCfits {
+   class FITSBase;
+@@ -665,7 +667,7 @@ do this either).
+ 
+ 
+ 
+-  class FITS 
++  class CCFITS_EXPORT FITS 
+   {
+ 
+     public:
+diff --git a/HDU.h b/HDU.h
+index 07f68e7..047e731 100644
+--- a/HDU.h
++++ b/HDU.h
+@@ -568,7 +568,7 @@ and return its value.
+ 
+ 
+ 
+-  class HDU 
++  class CCFITS_EXPORT HDU 
+   {
+ 
+     public:
+diff --git a/Table.h b/Table.h
+index a0c1afe..9a8a5db 100644
+--- a/Table.h
++++ b/Table.h
+@@ -268,7 +268,7 @@ namespace CCfits {
+ 
+ 
+ 
+-  class Table : public ExtHDU  //## Inherits: <unnamed>%3804A126EB10
++  class CCFITS_EXPORT Table : public ExtHDU  //## Inherits: <unnamed>%3804A126EB10
+   {
+ 
+     public:
+diff --git a/Column.h b/Column.h
+index e4496a7..b798947 100644
+--- a/Column.h
++++ b/Column.h
+@@ -838,14 +838,14 @@ namespace CCfits {
+ 
+ 
+ 
+-  class Column 
++  class CCFITS_EXPORT Column 
+   {
+ 
+     public:
+ 
+ 
+ 
+-      class RangeError : public FitsException  //## Inherits: <unnamed>%3946526D031A
++      class CCFITS_EXPORT RangeError : public FitsException  //## Inherits: <unnamed>%3946526D031A
+       {
+         public:
+             RangeError (const String& msg, bool silent = true);
+@@ -857,7 +857,7 @@ namespace CCfits {
+ 
+ 
+ 
+-      class InvalidDataType : public FitsException  //## Inherits: <unnamed>%3947CF30033E
++      class CCFITS_EXPORT InvalidDataType : public FitsException  //## Inherits: <unnamed>%3947CF30033E
+       {
+         public:
+             InvalidDataType (const String& str = string(), bool silent = true);
+@@ -869,7 +869,7 @@ namespace CCfits {
+ 
+ 
+ 
+-      class InvalidRowParameter : public FitsException  //## Inherits: <unnamed>%39B5310F01A0
++      class CCFITS_EXPORT InvalidRowParameter : public FitsException  //## Inherits: <unnamed>%39B5310F01A0
+       {
+         public:
+             InvalidRowParameter (const String& diag, bool silent = true);
+@@ -881,7 +881,7 @@ namespace CCfits {
+ 
+ 
+ 
+-      class WrongColumnType : public FitsException  //## Inherits: <unnamed>%39B545780082
++      class CCFITS_EXPORT WrongColumnType : public FitsException  //## Inherits: <unnamed>%39B545780082
+       {
+         public:
+             WrongColumnType (const String& diag, bool silent = true);
+@@ -893,7 +893,7 @@ namespace CCfits {
+ 
+ 
+ 
+-      class UnspecifiedLengths : public FitsException  //## Inherits: <unnamed>%3A018C9D007D
++      class CCFITS_EXPORT UnspecifiedLengths : public FitsException  //## Inherits: <unnamed>%3A018C9D007D
+       {
+         public:
+             UnspecifiedLengths (const String& diag, bool silent = true);
+@@ -905,7 +905,7 @@ namespace CCfits {
+ 
+ 
+ 
+-      class InvalidRowNumber : public FitsException  //## Inherits: <unnamed>%3B0A850F0307
++      class CCFITS_EXPORT InvalidRowNumber : public FitsException  //## Inherits: <unnamed>%3B0A850F0307
+       {
+         public:
+             InvalidRowNumber (const String& diag, bool silent = true);
+@@ -917,7 +917,7 @@ namespace CCfits {
+ 
+ 
+ 
+-      class InsufficientElements : public FitsException  //## Inherits: <unnamed>%3B0BE611010A
++      class CCFITS_EXPORT InsufficientElements : public FitsException  //## Inherits: <unnamed>%3B0BE611010A
+       {
+         public:
+             InsufficientElements (const String& msg, bool silent = true);
+@@ -929,7 +929,7 @@ namespace CCfits {
+ 
+ 
+ 
+-      class NoNullValue : public FitsException  //## Inherits: <unnamed>%3B0D589A0092
++      class CCFITS_EXPORT NoNullValue : public FitsException  //## Inherits: <unnamed>%3B0D589A0092
+       {
+         public:
+             NoNullValue (const String& diag, bool silent = true);
+@@ -941,7 +941,7 @@ namespace CCfits {
+ 
+ 
+ 
+-      class InvalidNumberOfRows : public FitsException  //## Inherits: <unnamed>%3B20EB8B0205
++      class CCFITS_EXPORT InvalidNumberOfRows : public FitsException  //## Inherits: <unnamed>%3B20EB8B0205
+       {
+         public:
+             InvalidNumberOfRows (int number, bool silent = true);
+diff --git a/AsciiTable.h b/AsciiTable.h
+index 620cf41..d03aa44 100644
+--- a/AsciiTable.h
++++ b/AsciiTable.h
+@@ -133,7 +133,7 @@ namespace CCfits {
+ 
+ 
+ 
+-  class AsciiTable : public Table  //## Inherits: <unnamed>%3804A75CE420
++  class CCFITS_EXPORT AsciiTable : public Table  //## Inherits: <unnamed>%3804A75CE420
+   {
+ 
+     public:
+diff --git a/CCfits.h b/CCfits.h
+index d09438a..a62b8a6 100644
+--- a/CCfits.h
++++ b/CCfits.h
+@@ -23,7 +23,7 @@ namespace CCfits {
+ #include <sys/types.h>
+ #include "longnam.h"
+ #include "float.h"
+-
++#include "ccfits_export.h"
+ 
+ namespace CCfits {
+   /*! \namespace CCfits
+@@ -32,8 +32,8 @@ namespace CCfits {
+   static const int BITPIX = -32;
+   static const int  NAXIS =   2;
+   static const int  MAXDIM = 99;
+-  extern const unsigned long USBASE;
+-  extern const unsigned long  ULBASE;
++  extern const CCFITS_EXPORT unsigned long USBASE;
++  extern const CCFITS_EXPORT unsigned long ULBASE;
+ 
+   extern  char BSCALE[7];
+   extern  char BZERO[6];
+diff --git a/FITSBase.h b/FITSBase.h
+index 996fdae..0c985f9 100644
+--- a/FITSBase.h
++++ b/FITSBase.h
+@@ -30,7 +30,7 @@ namespace CCfits {
+ 
+ 
+ 
+-  class FITSBase 
++  class CCFITS_EXPORT FITSBase 
+   {
+ 
+     public:
+diff --git a/Keyword.h b/Keyword.h
+index 816c119..b6df1f1 100644
+--- a/Keyword.h
++++ b/Keyword.h
+@@ -195,7 +195,7 @@ namespace CCfits {
+ 
+ 
+ 
+-  class Keyword 
++  class CCFITS_EXPORT Keyword 
+   {
+ 
+     public:
+diff --git a/ExtHDU.h b/ExtHDU.h
+index d075fa1..e2d7dc6 100644
+--- a/ExtHDU.h
++++ b/ExtHDU.h
+@@ -435,7 +435,7 @@ namespace CCfits {
+ 
+ 
+ 
+-  class ExtHDU : public HDU  //## Inherits: <unnamed>%38048213E7A8
++  class CCFITS_EXPORT ExtHDU : public HDU  //## Inherits: <unnamed>%38048213E7A8
+   {
+ 
+     public:
+diff --git a/PHDU.h b/PHDU.h
+index fe5f799..d9669b4 100644
+--- a/PHDU.h
++++ b/PHDU.h
+@@ -264,7 +264,7 @@ namespace CCfits {
+ 
+ 
+ 
+-  class PHDU : public HDU  //## Inherits: <unnamed>%394E6F9800C3
++  class CCFITS_EXPORT PHDU : public HDU  //## Inherits: <unnamed>%394E6F9800C3
+   {
+ 
+     public:
+diff --git a/BinTable.h b/BinTable.h
+index 68851e3..906005a 100644
+--- a/BinTable.h
++++ b/BinTable.h
+@@ -127,7 +127,7 @@ namespace CCfits {
+ 
+ 
+ 
+-  class BinTable : public Table  //## Inherits: <unnamed>%3804A7E75F10
++  class CCFITS_EXPORT BinTable : public Table  //## Inherits: <unnamed>%3804A7E75F10
+   {
+ 
+     public:
+diff --git a/ColumnCreator.h b/ColumnCreator.h
+index 104bd4f..15cd0ea 100644
+--- a/ColumnCreator.h
++++ b/ColumnCreator.h
+@@ -28,7 +28,7 @@ namespace CCfits {
+ 
+ 
+ 
+-  class ColumnCreator 
++  class CCFITS_EXPORT ColumnCreator 
+   {
+ 
+     public:
+diff --git a/FitsError.h b/FitsError.h
+index 593723c..52941f6 100644
+--- a/FitsError.h
++++ b/FitsError.h
+@@ -13,6 +13,7 @@
+ //#include <exception>
+ //#include <iostream>
+ //#include <stl.h>
++#include "ccfits_export.h"
+ #include <string>
+ using std::string;
+ 
+@@ -90,7 +91,7 @@ namespace CCfits {
+ 
+ 
+ 
+-  class FitsException 
++  class CCFITS_EXPORT FitsException 
+   {
+     public:
+         FitsException (const string& msg, bool& silent);
+@@ -109,7 +110,7 @@ namespace CCfits {
+ 
+ 
+ 
+-  class FitsError : public FitsException  //## Inherits: <unnamed>%399170BD017D
++  class CCFITS_EXPORT FitsError : public FitsException  //## Inherits: <unnamed>%399170BD017D
+   {
+     public:
+         FitsError (int errornum, bool silent = true);
+@@ -123,7 +124,7 @@ namespace CCfits {
+ 
+ 
+ 
+-  class FitsFatal 
++  class CCFITS_EXPORT FitsFatal 
+   {
+     public:
+         FitsFatal (const string& diag);
+diff --git a/HDUCreator.h b/HDUCreator.h
+index 65b82b7..2b5f717 100644
+--- a/HDUCreator.h
++++ b/HDUCreator.h
+@@ -35,7 +35,7 @@ namespace CCfits {
+ 
+ 
+ 
+-  class HDUCreator 
++  class CCFITS_EXPORT HDUCreator 
+   {
+ 
+     public:
+diff --git a/ccfits_export.h b/ccfits_export.h
+new file mode 100644
+index 0000000..a2540a6 100644
+--- /dev/null
++++ b/ccfits_export.h
+@@ -0,0 +1,41 @@
++#ifndef CCFITS_EXPORT_H
++#define CCFITS_EXPORT_H
++
++#ifdef CCFITS_STATIC_DEFINE
++#  define CCFITS_EXPORT
++#  define CCFITS_NO_EXPORT
++#else
++#  ifndef CCFITS_EXPORT
++#    ifdef CCfits_EXPORTS
++        /* We are building this library */
++#      define CCFITS_EXPORT __declspec(dllexport)
++#    else
++        /* We are using this library */
++#      define CCFITS_EXPORT __declspec(dllimport)
++#    endif
++#  endif
++
++#  ifndef CCFITS_NO_EXPORT
++#    define CCFITS_NO_EXPORT 
++#  endif
++#endif
++
++#ifndef CCFITS_DEPRECATED
++#  define CCFITS_DEPRECATED __declspec(deprecated)
++#endif
++
++#ifndef CCFITS_DEPRECATED_EXPORT
++#  define CCFITS_DEPRECATED_EXPORT CCFITS_EXPORT CCFITS_DEPRECATED
++#endif
++
++#ifndef CCFITS_DEPRECATED_NO_EXPORT
++#  define CCFITS_DEPRECATED_NO_EXPORT CCFITS_NO_EXPORT CCFITS_DEPRECATED
++#endif
++
++#if 0 /* DEFINE_NO_DEPRECATED */
++#  ifndef CCFITS_NO_DEPRECATED
++#    define CCFITS_NO_DEPRECATED
++#  endif
++#endif
++
++#endif
+
+diff --git a/FITSUtil.h b/FITSUtil.h
+index 762d430..e2eee33 100644
+--- a/FITSUtil.h
++++ b/FITSUtil.h
+@@ -22,6 +22,7 @@
+ #include <string>
+ // FitsError
+ #include "FitsError.h"
++#include "ccfits_export.h"
+ #include <typeinfo>
+ 
+ 
+@@ -287,21 +288,21 @@ object.
+     template <typename T>
+     void swap(std::vector<T>& left, std::vector<T>& right);
+ 
+-    string lowerCase(const string& inputString);
++    string CCFITS_EXPORT lowerCase(const string& inputString);
+ 
+-    string upperCase(const string& inputString);
++    string CCFITS_EXPORT upperCase(const string& inputString);
+ 
+   // Check if a file name includes an image compression specifier,
+   // and return its location if it exists.
+-    string::size_type checkForCompressString(const string& fileName);
++    string::size_type CCFITS_EXPORT checkForCompressString(const string& fileName);
+ 
+-  struct InvalidConversion : public FitsException
++  struct CCFITS_EXPORT InvalidConversion : public FitsException
+   {
+ 		InvalidConversion(const string& diag, bool silent=false);
+ 
+   };
+ 
+-  struct MatchStem : public std::binary_function<string,string,bool>
++  struct CCFITS_EXPORT MatchStem : public std::binary_function<string,string,bool>
+   {
+           bool operator()(const string& left, const string& right) const;
+   };
+@@ -323,7 +324,7 @@ object.
+ 
+   char** CharArray(const std::vector<string>& inArray);
+ 
+-  string FITSType2String( int typeInt );
++  string CCFITS_EXPORT FITSType2String( int typeInt );
+ 
+ 
+   template <typename S, typename T> 
+@@ -633,7 +634,7 @@ object.
+ 
+ 
+ 
+-    class UnrecognizedType : public FitsException  //## Inherits: <unnamed>%3CE143AB00C6
++    class CCFITS_EXPORT UnrecognizedType : public FitsException  //## Inherits: <unnamed>%3CE143AB00C6
+     {
+       public:
+           UnrecognizedType (string diag, bool silent = true);
+diff --git a/KeywordCreator.h b/KeywordCreator.h
+index d878a26..b2c0c70 100644
+--- a/KeywordCreator.h
++++ b/KeywordCreator.h
+@@ -24,7 +24,7 @@ namespace CCfits {
+ 
+ 
+ 
+-  class KeywordCreator 
++  class CCFITS_EXPORT KeywordCreator 
+   {
+ 
+     public:
+diff --git a/CCfits b/CCfits
+index e9848c9..f30c9ad 100644
+--- a/CCfits
++++ b/CCfits
+@@ -2,20 +2,20 @@
+ #ifndef CCFITS
+ #define CCFITS  20031208
+ 
+-#include <CCfits/CCfits.h>
++#include <CCfits.h>
+ 
+-#include <CCfits/FITS.h>
+-#include <CCfits/BinTable.h>
+-#include <CCfits/AsciiTable.h>
+-#include <CCfits/ColumnVectorData.h>
+-#include <CCfits/ColumnData.h>
+-#include <CCfits/ColumnT.h>
+-#include <CCfits/ExtHDUT.h>
+-#include <CCfits/KeywordT.h>
+-#include <CCfits/KeyData.h>
+-#include <CCfits/FitsError.h>
+-#include <CCfits/FITSUtilT.h>
+-#include <CCfits/PHDUT.h>
++#include <FITS.h>
++#include <BinTable.h>
++#include <AsciiTable.h>
++#include <ColumnVectorData.h>
++#include <ColumnData.h>
++#include <ColumnT.h>
++#include <ExtHDUT.h>
++#include <KeywordT.h>
++#include <KeyData.h>
++#include <FitsError.h>
++#include <FITSUtilT.h>
++#include <PHDUT.h>
+ 
+ 
+ #endif
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index b958fc7..0b1fb4e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -30,6 +30,11 @@ IF (BUILD_SHARED_LIBS)
+   SET (LIB_TYPE SHARED)
+ ENDIF (BUILD_SHARED_LIBS)
+ 
++
++IF (NOT BUILD_SHARED_LIBS)
++    ADD_DEFINITIONS(-DCCFITS_STATIC_DEFINE)
++ENDIF()
++
+ FILE(GLOB H_FILES "*.h")
+ SET(H_FILES ${H_FILES} CCfits)
+ 
+@@ -55,6 +60,7 @@ SET(SRC_FILES
+ )
+ 
+ ADD_LIBRARY(${LIB_NAME} ${LIB_TYPE} ${H_FILES} ${SRC_FILES})
++
+ TARGET_LINK_LIBRARIES(${LIB_NAME} ${CFITSIO_LIBRARY}
+ )
+ 

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

@@ -0,0 +1,15 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index d72ae85..405d96b 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -22,8 +22,8 @@ ENDIF()
+ 
+ #add_subdirectory (src)
+ 
+-find_package(CFITSIO REQUIRED)
+-INCLUDE_DIRECTORIES(${CFITSIO_INCLUDE_DIR})
++find_package(unofficial-cfitsio CONFIG REQUIRED)
++set(CFITSIO_LIBRARY cfitsio)
+ 
+ SET (LIB_TYPE STATIC)
+ IF (BUILD_SHARED_LIBS)

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

@@ -0,0 +1,41 @@
+vcpkg_download_distfile(ARCHIVE
+    URLS "https://heasarc.gsfc.nasa.gov/fitsio/CCfits-2.5/CCfits-2.5.tar.gz"
+    FILENAME "CCfits-2.5.tar.gz"
+    SHA512 63ab4d153063960510cf60651d5c832824cf85f937f84adc5390c7c2fb46eb8e9f5d8cda2554d79d24c7a4f1b6cf0b7a6e20958fb69920b65d7c362c0a5f26b5
+)
+
+vcpkg_extract_source_archive_ex(
+    ARCHIVE "${ARCHIVE}"
+    OUT_SOURCE_PATH SOURCE_PATH
+    PATCHES
+        dll_exports.patch
+        fix-dependency.patch
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+)
+
+vcpkg_cmake_install()
+
+if(VCPKG_TARGET_IS_WINDOWS AND VCPKG_LIBRARY_LINKAGE STREQUAL "dynamic")
+    file(MAKE_DIRECTORY "${CURRENT_PACKAGES_DIR}/bin")
+    file(MAKE_DIRECTORY "${CURRENT_PACKAGES_DIR}/debug/bin")
+    file(RENAME "${CURRENT_PACKAGES_DIR}/lib/CCfits.dll" "${CURRENT_PACKAGES_DIR}/bin/CCfits.dll")
+    file(RENAME "${CURRENT_PACKAGES_DIR}/debug/lib/CCfits.dll" "${CURRENT_PACKAGES_DIR}/debug/bin/CCfits.dll")
+endif()
+
+# Remove duplicate include files
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
+
+# Patch installed headers to look in the correct subdirectory
+file(GLOB HEADERS "${CURRENT_PACKAGES_DIR}/include/CCfits/*")
+foreach(HEADER IN LISTS HEADERS)
+    vcpkg_replace_string("${HEADER}" "\"fitsio.h\"" "\"cfitsio/fitsio.h\"")
+endforeach()
+
+vcpkg_replace_string(${CURRENT_PACKAGES_DIR}/include/CCfits/CCfits.h
+    "#include \"longnam.h\"" "#include \"cfitsio/longnam.h\""
+)
+
+file(INSTALL "${SOURCE_PATH}/License.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

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

@@ -0,0 +1,14 @@
+{
+  "name": "ccfits",
+  "version": "2.5",
+  "port-version": 8,
+  "description": "CCfits is an object oriented interface to the cfitsio library. It is designed to make the capabilities of cfitsio available to programmers working in C++.",
+  "homepage": "https://heasarc.gsfc.nasa.gov/fitsio/CCfits/",
+  "dependencies": [
+    "cfitsio",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    }
+  ]
+}

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

@@ -0,0 +1,48 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO alicevision/cctag
+    REF v1.0.1
+    SHA512 94992141094162d44cf45ad85324517638bf794d693c6a059d6ba5d5ccbedea4f98664a0cc49ebca78f85d2860b637dfcb9d5315114493643a6c7f8fabab3073
+    HEAD_REF develop
+)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+        FEATURES
+            cuda       CCTAG_WITH_CUDA
+            apps       CCTAG_BUILD_APPS
+)
+
+if("cuda" IN_LIST FEATURES)
+    include(${CURRENT_INSTALLED_DIR}/share/cuda/vcpkg_find_cuda.cmake)
+    vcpkg_find_cuda(OUT_CUDA_TOOLKIT_ROOT CUDA_TOOLKIT_ROOT)
+
+    message(STATUS "CUDA_TOOLKIT_ROOT ${CUDA_TOOLKIT_ROOT}")
+endif()
+
+vcpkg_cmake_configure(
+    SOURCE_PATH  "${SOURCE_PATH}"
+    OPTIONS -DCCTAG_BUILD_TESTS:BOOL=OFF ${FEATURE_OPTIONS}
+)
+
+vcpkg_cmake_install()
+
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/CCTag)
+
+vcpkg_copy_pdbs()
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include ${CURRENT_PACKAGES_DIR}/debug/share)
+
+# remove test files
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/include/cctag/geometry/test" "${CURRENT_PACKAGES_DIR}/include/cctag/test")
+# remove cuda headers
+if(NOT "cuda" IN_LIST FEATURES)
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/include/cctag/cuda")
+endif()
+
+ # move the bin directory to tools
+if ("apps" IN_LIST FEATURES)
+    set(CCTAG_TOOLS detection regression simulation)
+    vcpkg_copy_tools(TOOL_NAMES ${CCTAG_TOOLS} AUTO_CLEAN)
+endif()
+
+file(INSTALL ${SOURCE_PATH}/COPYING.md DESTINATION ${CURRENT_PACKAGES_DIR}/share/cctag RENAME copyright)

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

@@ -0,0 +1,60 @@
+{
+  "name": "cctag",
+  "version-semver": "1.0.1",
+  "maintainers": "alicevision-team@googlegroups.com",
+  "description": "Computer vision library for detecting CCTag markers made up of concentric circles",
+  "homepage": "https://github.com/alicevision/CCTag",
+  "documentation": "https://cctag.readthedocs.io/",
+  "supports": "!(uwp | arm | arm64 | android | x86)",
+  "dependencies": [
+    "boost-accumulators",
+    "boost-algorithm",
+    "boost-container",
+    "boost-date-time",
+    "boost-exception",
+    "boost-filesystem",
+    "boost-iterator",
+    "boost-lexical-cast",
+    "boost-math",
+    "boost-mpl",
+    "boost-multi-array",
+    "boost-program-options",
+    "boost-ptr-container",
+    "boost-serialization",
+    "boost-spirit",
+    "boost-stacktrace",
+    "boost-static-assert",
+    "boost-test",
+    "boost-thread",
+    "boost-throw-exception",
+    "boost-timer",
+    "boost-type-traits",
+    "boost-unordered",
+    "eigen3",
+    "opencv3",
+    "tbb",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "features": {
+    "apps": {
+      "description": "Sample applications for detecting CCTag markers in images and videos",
+      "dependencies": [
+        "boost-program-options",
+        "boost-system"
+      ]
+    },
+    "cuda": {
+      "description": "Enable Cuda support for faster detection",
+      "dependencies": [
+        "cuda"
+      ]
+    }
+  }
+}

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

@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.8)
+project(cctz CXX)
+
+set(CMAKE_CXX_STANDARD 14)
+
+set(CMAKE_DEBUG_POSTFIX d)
+
+if(CMAKE_BUILD_TYPE STREQUAL "Release")
+    option(INSTALL_HEADERS "Install header files" ON)
+else()
+    option(INSTALL_HEADERS "Install header files" OFF)
+endif()
+
+find_package(benchmark CONFIG REQUIRED)
+
+file(GLOB SOURCES src/*.cc)
+list(FILTER SOURCES EXCLUDE REGEX "_test.cc$|benchmarks|_tool.cc$")
+
+file(GLOB HEADERS include/cctz/*.h)
+
+add_library(cctz ${SOURCES})
+target_include_directories(cctz PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>)
+target_link_libraries(cctz PRIVATE benchmark::benchmark benchmark::benchmark_main)
+
+if(INSTALL_HEADERS)
+    install(FILES ${HEADERS} DESTINATION "include/cctz")
+endif()
+
+install(TARGETS cctz EXPORT unofficial-cctz-targets
+    RUNTIME DESTINATION bin
+    LIBRARY DESTINATION lib
+    ARCHIVE DESTINATION lib
+)
+
+install(
+    EXPORT unofficial-cctz-targets
+    FILE unofficial-cctz-config.cmake
+    NAMESPACE unofficial::
+    DESTINATION share/unofficial-cctz
+)

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

@@ -0,0 +1,28 @@
+if(VCPKG_CMAKE_SYSTEM_NAME STREQUAL "WindowsStore")
+    message(FATAL_ERROR "${PORT} does not currently support UWP")
+endif()
+
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO google/cctz
+    REF v2.3
+    SHA512 e688ddac1bff108e8315bf94cb61483b72b0d16f601e4e1eeb0fd5c064aefe5a573eee66e8903401aa4c2be71ea9f10dd6c9a9cdf8379f5bb6073248a21a83ff
+    HEAD_REF master
+)
+
+file(COPY ${CMAKE_CURRENT_LIST_DIR}/CMakeLists.txt DESTINATION ${SOURCE_PATH})
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+)
+
+vcpkg_install_cmake()
+
+vcpkg_fixup_cmake_targets(CONFIG_PATH share/unofficial-cctz TARGET_PATH share/unofficial-cctz)
+
+vcpkg_copy_pdbs()
+
+file(INSTALL ${SOURCE_PATH}/LICENSE.txt DESTINATION ${CURRENT_PACKAGES_DIR}/share/cctz RENAME copyright)

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

@@ -0,0 +1,10 @@
+{
+  "name": "cctz",
+  "version-string": "2.3",
+  "port-version": 3,
+  "description": "two libraries that cooperate with <chrono> to give C++ programmers all the necessary tools for computing with dates, times, and time zones in a simple and correct manner.",
+  "homepage": "https://github.com/google/cctz",
+  "dependencies": [
+    "benchmark"
+  ]
+}

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

@@ -0,0 +1,33 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO DigitalInBlue/Celero
+    REF 6208b63dcd4baeea6817d3e84f79fb04ad99c720 #2.8.2
+    SHA512 13a486dafba394cc3e072292008d00e8a3e1b12b4fe7c82cf2ce43b3d24629d08b5762494c19da0a12b186a70114cba101553ed1b4cea90d090514307b06dec8
+    HEAD_REF master
+)
+
+string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "dynamic" CELERO_COMPILE_DYNAMIC_LIBRARIES)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA # Disable this option if project cannot be built with Ninja
+    OPTIONS
+        -DCELERO_ENABLE_EXPERIMENTS=OFF
+        -DCELERO_ENABLE_TESTS=OFF
+        -DCELERO_RUN_EXAMPLE_ON_BUILD=OFF
+        -DCELERO_COMPILE_DYNAMIC_LIBRARIES=${CELERO_COMPILE_DYNAMIC_LIBRARIES}
+        -DCELERO_TREAT_WARNINGS_AS_ERRORS=OFF
+)
+
+vcpkg_install_cmake()
+vcpkg_fixup_cmake_targets(CONFIG_PATH share)
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include ${CURRENT_PACKAGES_DIR}/debug/share)
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    vcpkg_replace_string(${CURRENT_PACKAGES_DIR}/include/celero/Export.h "ifdef CELERO_STATIC" "if 1")
+endif()
+
+file(RENAME ${CURRENT_PACKAGES_DIR}/share/celero/celero-target.cmake ${CURRENT_PACKAGES_DIR}/share/celero/celero-config.cmake)
+
+file(INSTALL ${SOURCE_PATH}/license.txt DESTINATION ${CURRENT_PACKAGES_DIR}/share/${PORT} RENAME copyright)

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

@@ -0,0 +1,7 @@
+{
+  "name": "celero",
+  "version-string": "2.8.2",
+  "port-version": 1,
+  "description": "Celero is a modern cross-platform (Windows, Linux, MacOS) Microbenchmarking library for C++.",
+  "homepage": "https://github.com/DigitalInBlue/Celero"
+}

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

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.14)
+
+project(cello LANGUAGES C)
+
+include(GNUInstallDirs)
+
+file(GLOB cello_sources src/*.c)
+add_library(cello ${cello_sources})
+
+target_include_directories(
+    cello
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>
+        $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+)
+
+set_target_properties(cello PROPERTIES PUBLIC_HEADER include/Cello.h)
+
+install(TARGETS cello EXPORT unofficial-cello-config)
+
+install(
+    EXPORT unofficial-cello-config
+    NAMESPACE unofficial::cello::
+    DESTINATION share/unofficial-cello
+    PERMISSIONS OWNER_READ OWNER_WRITE GROUP_READ WORLD_READ
+)

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

@@ -0,0 +1,27 @@
+vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO orangeduck/Cello
+    REF da28eefbc95d8bd5628e5f1c4cc12bc1b13fef4f
+    SHA512 64825cf37223dd679b379d78475218a543690c3b78333acb906d42982261df4b9ada3a87bea183fad5e2cf220311904e657b0bf5051b141c389d5ee1d2974e5b
+    HEAD_REF master
+)
+
+file(COPY ${CMAKE_CURRENT_LIST_DIR}/CMakeLists.txt DESTINATION ${SOURCE_PATH})
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+)
+
+vcpkg_install_cmake()
+
+vcpkg_copy_pdbs()
+
+vcpkg_fixup_cmake_targets(CONFIG_PATH share/unofficial-${PORT} TARGET_PATH share/unofficial-${PORT})
+
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
+
+# Handle copyright
+configure_file(${SOURCE_PATH}/LICENSE.md ${CURRENT_PACKAGES_DIR}/share/${PORT}/copyright COPYONLY)

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

@@ -0,0 +1,7 @@
+{
+  "name": "cello",
+  "version-date": "2019-07-23",
+  "port-version": 2,
+  "description": "Higher level programming in C",
+  "homepage": "https://libcello.org/"
+}

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

@@ -0,0 +1,27 @@
+#header-only library
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO USCiLab/cereal
+    REF v1.3.1
+    SHA512 5beafdd95b16344d5db43a0e26fd670a770e2c2a661ae117c9593db86697ca1034e2bf004fe6dc3c2a690e8a682f60d8b6121211d898009e59361ebef33f6fc9
+    HEAD_REF master
+)
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    OPTIONS
+        -DJUST_INSTALL_CEREAL=ON
+)
+
+vcpkg_install_cmake()
+vcpkg_fixup_cmake_targets(CONFIG_PATH lib/cmake/cereal)
+
+# Clean
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug)
+file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/lib)
+
+# Handle copyright
+file(COPY ${SOURCE_PATH}/LICENSE DESTINATION ${CURRENT_PACKAGES_DIR}/share/cereal)
+file(RENAME ${CURRENT_PACKAGES_DIR}/share/cereal/LICENSE ${CURRENT_PACKAGES_DIR}/share/cereal/copyright)

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

@@ -0,0 +1,7 @@
+{
+  "name": "cereal",
+  "version": "1.3.1",
+  "description": "a header-only C++11 serialization library (built in support for binary, XML and JSon)",
+  "homepage": "https://github.com/USCiLab/cereal",
+  "license": "BSD-3-Clause"
+}

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ceres/0001_cmakelists_fixes.patch

@@ -0,0 +1,46 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 33e98b1..f275d68 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -426,27 +426,7 @@ if (MINIGLOG)
+                          GLOG_LIBRARY)
+ else (MINIGLOG)
+   unset(MINIGLOG_MAX_LOG_LEVEL CACHE)
+-  # Don't search with REQUIRED so that configuration continues if not found and
+-  # we can output an error messages explaining MINIGLOG option.
+-  find_package(Glog)
+-  if (NOT GLOG_FOUND)
+-    message(FATAL_ERROR "Can't find Google Log (glog). Please set either: "
+-      "glog_DIR (newer CMake built versions of glog) or GLOG_INCLUDE_DIR & "
+-      "GLOG_LIBRARY or enable MINIGLOG option to use minimal glog "
+-      "implementation.")
+-  endif(NOT GLOG_FOUND)
+-  # By default, assume gflags was found, updating the message if it was not.
+-  set(GLOG_GFLAGS_DEPENDENCY_MESSAGE
+-    " Assuming glog was built with gflags support as gflags was found. "
+-    "This will make gflags a public dependency of Ceres.")
+-  if (NOT gflags_FOUND)
+-    set(GLOG_GFLAGS_DEPENDENCY_MESSAGE
+-      " Assuming glog was NOT built with gflags support as gflags was "
+-      "not found.  If glog was built with gflags, please set the "
+-      "gflags search locations such that it can be found by Ceres.  "
+-      "Otherwise, Ceres may fail to link due to missing gflags symbols.")
+-  endif(NOT gflags_FOUND)
+-  message("-- Found Google Log (glog)." ${GLOG_GFLAGS_DEPENDENCY_MESSAGE})
++  find_package(Glog REQUIRED)
+ endif (MINIGLOG)
+
+ if (NOT SCHUR_SPECIALIZATIONS)
+@@ -760,12 +740,6 @@ install(FILES "${Ceres_BINARY_DIR}/CeresConfig-install.cmake"
+         DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
+ install(FILES "${Ceres_BINARY_DIR}/CeresConfigVersion.cmake"
+         DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
+-if (GLOG_FOUND AND NOT FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION)
+-  # Version of glog detected was not built with CMake, install our glog module
+-  # file to enable detection in CeresConfig.
+-  install(FILES "${Ceres_SOURCE_DIR}/cmake/FindGlog.cmake"
+-          DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
+-endif()
+
+ if (PROVIDE_UNINSTALL_TARGET)
+   # Create an uninstall target to remove all installed files.

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ceres/0002_use_glog_target.patch

@@ -0,0 +1,25 @@
+diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
+index 3711222..8646bd0 100644
+--- a/internal/ceres/CMakeLists.txt
++++ b/internal/ceres/CMakeLists.txt
+@@ -174,17 +174,9 @@ endif (SCHUR_SPECIALIZATIONS)
+ find_package(Threads QUIET)
+ list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES Threads::Threads)
+
+-if (NOT MINIGLOG AND GLOG_FOUND)
+-  list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES})
+-  if (gflags_FOUND)
+-    # If glog & gflags are both found, we assume that glog was built with
+-    # gflags, as it is awkward to perform a try_compile() to verify this
+-    # when gflags is an imported target (as it is in newer versions).
+-    # As glog #includes gflags/gflags.h in glog/logging.h if compiled with
+-    # gflags, it is thus a public dependency for Ceres in this case.
+-    list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES gflags)
+-  endif()
+-endif (NOT MINIGLOG AND GLOG_FOUND)
++if (NOT MINIGLOG)
++  list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES glog::glog)
++endif (NOT MINIGLOG)
+ 
+ if (SUITESPARSE AND SUITESPARSE_FOUND)
+   # Define version information for use in Solver::FullReport.

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ceres/0003_fix_exported_ceres_config.patch

@@ -0,0 +1,66 @@
+diff --git a/cmake/CeresConfig.cmake.in b/cmake/CeresConfig.cmake.in
+index e5e2976..be1083a 100644
+--- a/cmake/CeresConfig.cmake.in
++++ b/cmake/CeresConfig.cmake.in
+@@ -213,55 +213,13 @@ else (EIGEN3_FOUND)
+ endif (EIGEN3_FOUND)
+ 
+ # glog (and maybe gflags).
+-#
+-# Flags set during configuration and build of Ceres.
+-set(CERES_USES_MINIGLOG @MINIGLOG@)
+-set(CERES_GLOG_VERSION @glog_VERSION@)
+-set(CERES_GLOG_WAS_BUILT_WITH_CMAKE @FOUND_INSTALLED_GLOG_CMAKE_CONFIGURATION@)
+-
+-set(CERES_USES_GFLAGS @GFLAGS@)
+-set(CERES_GFLAGS_VERSION @gflags_VERSION@)
+-
+-if (CERES_USES_MINIGLOG)
+-  # Output message at standard log level (not the lower STATUS) so that
+-  # the message is output in GUI during configuration to warn user.
+-  ceres_message("-- Found Ceres compiled with miniglog substitute "
+-    "for glog, beware this will likely cause problems if glog is later linked.")
+-else(CERES_USES_MINIGLOG)
+-  if (CERES_GLOG_WAS_BUILT_WITH_CMAKE)
+-    find_package(glog ${CERES_GLOG_VERSION} CONFIG QUIET)
+-    set(GLOG_FOUND ${glog_FOUND})
+-  else()
+-    # Version of glog against which Ceres was built was not built with CMake,
+-    # use the exported glog find_package() module from Ceres to find it again.
+-    # Append the locations of glog when Ceres was built to the search path hints.
+-    list(APPEND GLOG_INCLUDE_DIR_HINTS "@GLOG_INCLUDE_DIR@")
+-    get_filename_component(CERES_BUILD_GLOG_LIBRARY_DIR "@GLOG_LIBRARY@" PATH)
+-    list(APPEND GLOG_LIBRARY_DIR_HINTS ${CERES_BUILD_GLOG_LIBRARY_DIR})
+-
+-    # Search quietly s/t we control the timing of the error message if not found.
+-    find_package(Glog QUIET)
+-  endif()
++include (CMakeFindDependencyMacro)
++find_dependency (glog NO_MODULE)
+ 
+-  if (GLOG_FOUND)
+-    ceres_message(STATUS "Found required Ceres dependency: glog")
+-  else()
+-    ceres_report_not_found("Missing required Ceres dependency: glog.")
+-  endif()
+-
+-  # gflags is only a public dependency of Ceres via glog, thus is not required
+-  # if Ceres was built with MINIGLOG.
+-  if (CERES_USES_GFLAGS)
+-    # Search quietly s/t we control the timing of the error message if not found.
+-    find_package(gflags ${CERES_GFLAGS_VERSION} QUIET)
+-    if (gflags_FOUND AND TARGET gflags)
+-      ceres_message(STATUS "Found required Ceres dependency: gflags")
+-    else()
+-      ceres_report_not_found("Missing required Ceres "
+-        "dependency: gflags (not found, or not found as exported CMake target).")
+-    endif()
+-  endif()
+-endif(CERES_USES_MINIGLOG)
++# SuiteSparse
++if (@SUITESPARSE@)
++    find_dependency(suitesparse CONFIG)
++endif()
+ 
+ # Import exported Ceres targets, if they have not already been imported.
+ if (NOT TARGET ceres AND NOT Ceres_BINARY_DIR)

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ceres/0004_fix_lib_path_linux.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index f24ce30..8e5759b 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -192,7 +192,7 @@ endif()
+ # install native libraries to lib64 rather than lib. Most distros seem to
+ # follow this convention with a couple notable exceptions (Debian-based and
+ # Arch-based distros) which we try to detect here.
+-if (CMAKE_SYSTEM_NAME MATCHES "Linux" AND
++if (0 AND CMAKE_SYSTEM_NAME MATCHES "Linux" AND
+     NOT DEFINED LIB_SUFFIX AND
+     NOT CMAKE_CROSSCOMPILING AND
+     CMAKE_SIZEOF_VOID_P EQUAL "8" AND

third-party/DPVO/Pangolin/scripts/vcpkg/ports/ceres/find-package-required.patch

@@ -0,0 +1,58 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index b6a3d05..a78c027 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -245,7 +245,7 @@ if (EIGEN3_FOUND)
+ endif (EIGEN3_FOUND)
+ 
+ if (LAPACK)
+-  find_package(LAPACK QUIET)
++  find_package(LAPACK REQUIRED)
+   if (LAPACK_FOUND)
+     message("-- Found LAPACK library: ${LAPACK_LIBRARIES}")
+   else (LAPACK_FOUND)
+@@ -263,7 +263,7 @@ if (SUITESPARSE)
+   # built with SuiteSparse support.
+ 
+   # Check for SuiteSparse and dependencies.
+-  find_package(SuiteSparse)
++  find_package(SuiteSparse REQUIRED)
+   if (SUITESPARSE_FOUND)
+     # On Ubuntu the system install of SuiteSparse (v3.4.0) up to at least
+     # Ubuntu 13.10 cannot be used to link shared libraries.
+@@ -300,7 +300,7 @@ endif (SUITESPARSE)
+ # CXSparse.
+ if (CXSPARSE)
+   # Don't search with REQUIRED as we can continue without CXSparse.
+-  find_package(CXSparse)
++  find_package(CXSparse REQUIRED)
+   if (CXSPARSE_FOUND)
+     # By default, if CXSparse and all dependencies are found, Ceres is
+     # built with CXSparse support.
+@@ -336,7 +336,7 @@ endif(NOT SUITESPARSE AND NOT CXSPARSE AND NOT EIGENSPARSE)
+ # GFlags.
+ if (GFLAGS)
+   # Don't search with REQUIRED as we can continue without gflags.
+-  find_package(gflags 2.2.0)
++  find_package(gflags REQUIRED)
+   if (gflags_FOUND)
+     if (TARGET gflags)
+       message("-- Found Google Flags (gflags) version ${gflags_VERSION}: ${gflags_DIR}")
+@@ -537,7 +537,7 @@ else (NOT OPENMP AND NOT TBB AND NOT CXX11_THREADS)
+ set_ceres_threading_model("${CERES_THREADING_MODEL}")
+ 
+ if (BUILD_BENCHMARKS)
+-  find_package(benchmark QUIET)
++  find_package(benchmark REQUIRED)
+   if (benchmark_FOUND)
+      message("-- Found Google benchmark library. Building Ceres benchmarks.")
+   else()
+@@ -782,7 +782,7 @@ if (BUILD_DOCUMENTATION)
+   set(CERES_DOCS_INSTALL_DIR "share/doc/ceres" CACHE STRING
+       "Ceres docs install path relative to CMAKE_INSTALL_PREFIX")
+ 
+-  find_package(Sphinx QUIET)
++  find_package(Sphinx REQUIRED)
+   if (NOT SPHINX_FOUND)
+     message("-- Failed to find Sphinx, disabling build of documentation.")
+     update_cache_variable(BUILD_DOCUMENTATION OFF)

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

@@ -0,0 +1,65 @@
+set(MSVC_USE_STATIC_CRT_VALUE OFF)
+if(VCPKG_CRT_LINKAGE STREQUAL "static")
+    if(VCPKG_LIBRARY_LINKAGE STREQUAL "dynamic")
+        message(FATAL_ERROR "Ceres does not support mixing static CRT and dynamic library linkage")
+    endif()
+    set(MSVC_USE_STATIC_CRT_VALUE ON)
+endif()
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO ceres-solver/ceres-solver
+    REF 2.0.0
+    SHA512 6379666ef57af4ea85026644fa21365ce18fbaa12d50bd452bcdae0743a7b013effdd42c961e90c31815991bf315bd6904553dcc1a382ff5ed8c7abe9edf9a6c
+    HEAD_REF master
+    PATCHES
+        0001_cmakelists_fixes.patch
+        0002_use_glog_target.patch
+        0003_fix_exported_ceres_config.patch
+        0004_fix_lib_path_linux.patch
+        find-package-required.patch
+)
+
+file(REMOVE "${SOURCE_PATH}/cmake/FindCXSparse.cmake")
+file(REMOVE "${SOURCE_PATH}/cmake/FindGflags.cmake")
+file(REMOVE "${SOURCE_PATH}/cmake/FindGlog.cmake")
+file(REMOVE "${SOURCE_PATH}/cmake/FindEigen.cmake")
+file(REMOVE "${SOURCE_PATH}/cmake/FindSuiteSparse.cmake")
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        "suitesparse"       SUITESPARSE
+        "cxsparse"          CXSPARSE
+        "lapack"            LAPACK
+        "eigensparse"       EIGENSPARSE
+        "tools"             GFLAGS
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        ${FEATURE_OPTIONS}
+        -DEXPORT_BUILD_DIR=ON
+        -DBUILD_BENCHMARKS=OFF
+        -DBUILD_EXAMPLES=OFF
+        -DBUILD_TESTING=OFF
+        -DBUILD_BENCHMARKS=OFF
+        -DPROVIDE_UNINSTALL_TARGET=OFF
+        -DMSVC_USE_STATIC_CRT=${MSVC_USE_STATIC_CRT_VALUE}
+        -DLIB_SUFFIX=${LIB_SUFFIX}
+)
+
+vcpkg_cmake_install()
+
+if(VCPKG_TARGET_IS_WINDOWS)
+  vcpkg_cmake_config_fixup(CONFIG_PATH CMake)
+else()
+  vcpkg_cmake_config_fixup(CONFIG_PATH "lib${LIB_SUFFIX}/cmake/Ceres")
+endif()
+
+vcpkg_copy_pdbs()
+
+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/ceres/vcpkg.json

@@ -0,0 +1,60 @@
+{
+  "name": "ceres",
+  "version-semver": "2.0.0",
+  "port-version": 6,
+  "description": "non-linear optimization package",
+  "homepage": "https://github.com/ceres-solver/ceres-solver",
+  "dependencies": [
+    "eigen3",
+    "glog",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "features": {
+    "cxsparse": {
+      "description": "CXSparse support for Ceres",
+      "dependencies": [
+        {
+          "name": "suitesparse",
+          "default-features": false
+        }
+      ]
+    },
+    "eigensparse": {
+      "description": "Use of Eigen as a sparse linear algebra library in Ceres"
+    },
+    "lapack": {
+      "description": "Use Lapack in Ceres",
+      "dependencies": [
+        "lapack"
+      ]
+    },
+    "suitesparse": {
+      "description": "SuiteSparse support for Ceres",
+      "dependencies": [
+        {
+          "name": "ceres",
+          "features": [
+            "lapack"
+          ]
+        },
+        {
+          "name": "suitesparse",
+          "default-features": false
+        }
+      ]
+    },
+    "tools": {
+      "description": "Ceres tools",
+      "dependencies": [
+        "gflags"
+      ]
+    }
+  }
+}