[pcl[cuda]] Fix build failure (#37041)

Fixes #33527 Add VTK as a dependency to CUDA feature. and use upstream patch to fix error: ```` LINK : warning LNK4098: defaultlib 'LIBCMT' conflicts with use of other libs; use /NODEFAULTLIB:library screenshot_manager.cpp.obj : error LNK2019: unresolved external symbol "void __cdecl pcl::io::saveRgbPNGFile(class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &,unsigned char const *,int,int)" (?saveRgbPNGFile@io@pcl@@YAXAEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@PEBEHH@Z) referenced in function "public: void __cdecl pcl::kinfuLS::ScreenshotManager::saveImage(class Eigen::Transform<float,3,2,0> const &,struct pcl::gpu::PtrStepSz<struct pcl::gpu::kinfuLS::PixelRGB const >)" (?saveImage@ScreenshotManager@kinfuLS@pcl@@QEAAXAEBV?$Transform@M$02$01$0A@@Eigen@@U?$PtrStepSz@$$CBUPixelRGB@kinfuLS@gpu@pcl@@@gpu@3@@Z) bin\pcl_gpu_kinfu_large_scaled.dll : fatal error LNK1120: 1 unresolved externals ```` The upstream PR: https://github.com/PointCloudLibrary/pcl/pull/5947 All features are tested successfully in the following triplet: x86-windows x64-windows x64-windows-static - [x] Changes comply with the [maintainer guide](https://github.com/microsoft/vcpkg-docs/blob/main/vcpkg/contributing/maintainer-guide.md). - [ ] ~~SHA512s are updated for each updated download.~~ - [ ] ~~The "supports" clause reflects platforms that may be fixed by this new version.~~ - [ ] ~~Any fixed [CI baseline](https://github.com/microsoft/vcpkg/blob/master/scripts/ci.baseline.txt) entries are removed from that file.~~ - [ ] ~~Any patches that are no longer applied are deleted from the port's directory.~~ - [x] The version database is fixed by rerunning `./vcpkg x-add-version --all` and committing the result. - [x] Only one version is added to each modified port's versions file. --------- Co-authored-by: Jon <v-zhli17@microsoft.com>
2024-12-28 03:10:57 +08:00 · 2024-03-05 01:59:23 -08:00 · 2024-03-05 01:59:23 -08:00 · 0ed15cf267
commit 0ed15cf267
parent ff7b7e8711
5 changed files with 390 additions and 3 deletions
--- a/ports/pcl/fix-kinfu.patch
+++ b/ports/pcl/fix-kinfu.patch
@ -0,0 +1,380 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 4a1ba09..69f667b 100644
+--- a/CMakeLists.txt
+++ b/CMakeLists.txt
+@@ -423,6 +423,12 @@ if(WITH_OPENGL)
+   include("${PCL_SOURCE_DIR}/cmake/pcl_find_gl.cmake")
+ endif()
+ 
+# GLEW
+option(WITH_GLEW "Support for GLEW" TRUE)
+if(WITH_GLEW)
+  find_package(GLEW QUIET)
+endif()
+
+ # Boost (required)
+ include("${PCL_SOURCE_DIR}/cmake/pcl_find_boost.cmake")
+ if (NOT APPLE AND NOT WIN32 AND CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+diff --git a/cmake/pcl_options.cmake b/cmake/pcl_options.cmake
+index e4ca977..7955f11 100644
+--- a/cmake/pcl_options.cmake
+++ b/cmake/pcl_options.cmake
+@@ -88,8 +88,6 @@ mark_as_advanced(CMAKE_MSVC_CODE_LINK_OPTIMIZATION)
+ # Project folders
+ set_property(GLOBAL PROPERTY USE_FOLDERS ON)
+ 
+-option(BUILD_tools "Useful PCL-based command line tools" ON)
+-
+ option(WITH_DOCS "Build doxygen documentation" OFF)
+ 
+ # set index size
+diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
+index fe0ad8f..518a98d 100644
+--- a/common/CMakeLists.txt
+++ b/common/CMakeLists.txt
+@@ -2,7 +2,6 @@ set(SUBSYS_NAME common)
+ set(SUBSYS_DESC "Point cloud common library")
+ set(SUBSYS_DEPS)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS eigen3 boost)
+ 
+diff --git a/cuda/CMakeLists.txt b/cuda/CMakeLists.txt
+index c327f95..ed1c888 100644
+--- a/cuda/CMakeLists.txt
+++ b/cuda/CMakeLists.txt
+@@ -2,7 +2,7 @@ set(SUBSYS_NAME cuda)
+ set(SUBSYS_DESC "Point cloud CUDA libraries")
+ set(SUBSYS_DEPS)
+ 
+-option(BUILD_CUDA "Build the CUDA-related subsystems" ${DEFAULT})
+option(BUILD_CUDA "Build the CUDA-related subsystems" OFF)
+ 
+ if(NOT (BUILD_CUDA AND CUDA_FOUND))
+   return()
+diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
+index d89aa99..62c02de 100644
+--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
+@@ -2,9 +2,7 @@ set(SUBSYS_NAME examples)
+ set(SUBSYS_DESC "PCL examples")
+ set(SUBSYS_DEPS common io features search kdtree octree filters keypoints segmentation sample_consensus outofcore stereo geometry surface)
+ 
+-set(DEFAULT FALSE)
+-set(REASON "Code examples are disabled by default.")
+-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
+PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} OFF)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+ 
+ if(NOT build)
+diff --git a/features/CMakeLists.txt b/features/CMakeLists.txt
+index b5f902a..cdf17fd 100644
+--- a/features/CMakeLists.txt
+++ b/features/CMakeLists.txt
+@@ -2,7 +2,6 @@ set(SUBSYS_NAME features)
+ set(SUBSYS_DESC "Point cloud features library")
+ set(SUBSYS_DEPS common search kdtree octree filters 2d)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
+ 
+diff --git a/filters/CMakeLists.txt b/filters/CMakeLists.txt
+index f454188..a485505 100644
+--- a/filters/CMakeLists.txt
+++ b/filters/CMakeLists.txt
+@@ -2,7 +2,6 @@ set(SUBSYS_NAME filters)
+ set(SUBSYS_DESC "Point cloud filters library")
+ set(SUBSYS_DEPS common sample_consensus search kdtree octree)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
+ 
+diff --git a/geometry/CMakeLists.txt b/geometry/CMakeLists.txt
+index cafc32e..0ec3e6f 100644
+--- a/geometry/CMakeLists.txt
+++ b/geometry/CMakeLists.txt
+@@ -2,7 +2,6 @@ set(SUBSYS_NAME geometry)
+ set(SUBSYS_DESC "Point cloud geometry library")
+ set(SUBSYS_DEPS common)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+ 
+diff --git a/gpu/CMakeLists.txt b/gpu/CMakeLists.txt
+index 45daad5..a126cef 100644
+--- a/gpu/CMakeLists.txt
+++ b/gpu/CMakeLists.txt
+@@ -2,7 +2,7 @@ set(SUBSYS_NAME gpu)
+ set(SUBSYS_DESC "Point cloud GPU libraries")
+ set(SUBSYS_DEPS)
+ 
+-option(BUILD_GPU "Build the GPU-related subsystems" ${DEFAULT})
+option(BUILD_GPU "Build the GPU-related subsystems" OFF)
+ 
+ if(NOT (BUILD_GPU AND CUDA_FOUND))
+   return()
+diff --git a/gpu/kinfu/tools/CMakeLists.txt b/gpu/kinfu/tools/CMakeLists.txt
+index e1593b3..2477f86 100644
+--- a/gpu/kinfu/tools/CMakeLists.txt
+++ b/gpu/kinfu/tools/CMakeLists.txt
+@@ -2,7 +2,7 @@ set(SUBSUBSYS_NAME tools)
+ set(SUBSUBSYS_DESC "Kinfu tools")
+ set(SUBSUBSYS_DEPS gpu_kinfu visualization)
+ set(SUBSUBSYS_OPT_DEPS opencv)
+-set(EXT_DEPS openni)
+set(EXT_DEPS glew openni)
+ set(DEFAULT TRUE)
+ set(REASON "")
+ 
+diff --git a/gpu/kinfu_large_scale/CMakeLists.txt b/gpu/kinfu_large_scale/CMakeLists.txt
+index 0488fcb..9fb9432 100644
+--- a/gpu/kinfu_large_scale/CMakeLists.txt
+++ b/gpu/kinfu_large_scale/CMakeLists.txt
+@@ -2,6 +2,8 @@ set(SUBSYS_NAME gpu_kinfu_large_scale)
+ set(SUBSYS_PATH gpu/kinfu_large_scale)
+ set(SUBSYS_DESC "Kinect Fusion implementation, with volume shifting")
+ set(SUBSYS_DEPS common io gpu_containers gpu_utils geometry search octree filters kdtree features surface)
+set(EXT_DEPS vtk) # Uses saveRgbPNGFile from png_io, which requires VTK to be present
+
+ if(${CUDA_VERSION_STRING} VERSION_GREATER_EQUAL "12.0")
+   set(DEFAULT FALSE)
+   set(REASON "Kinfu_large_scale uses textures which was removed in CUDA 12")
+@@ -11,7 +13,7 @@ endif()
+ 
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+-PCL_SET_SUBSYS_INCLUDE_DIR("${SUBSYS_NAME}" "${SUBSYS_PATH}")
+PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
+ mark_as_advanced("BUILD_${SUBSYS_NAME}")
+ 
+ if(NOT build)
+diff --git a/gpu/kinfu_large_scale/tools/CMakeLists.txt b/gpu/kinfu_large_scale/tools/CMakeLists.txt
+index d8d6547..017a190 100644
+--- a/gpu/kinfu_large_scale/tools/CMakeLists.txt
+++ b/gpu/kinfu_large_scale/tools/CMakeLists.txt
+@@ -2,7 +2,7 @@ set(SUBSUBSYS_NAME tools)
+ set(SUBSUBSYS_DESC "Kinfu large scale tools")
+ set(SUBSUBSYS_DEPS gpu_kinfu_large_scale visualization)
+ set(SUBSUBSYS_OPT_DEPS )
+-set(EXT_DEPS openni openni2)
+set(EXT_DEPS glew openni openni2)
+ set(DEFAULT TRUE)
+ set(REASON "")
+ 
+diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
+index 7fc86b2..0e4ef22 100644
+--- a/io/CMakeLists.txt
+++ b/io/CMakeLists.txt
+@@ -3,7 +3,6 @@ set(SUBSYS_DESC "Point cloud IO library")
+ set(SUBSYS_DEPS common octree)
+ set(SUBSYS_EXT_DEPS boost eigen3)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ if(WIN32)
+   PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS openni openni2 ensenso davidSDK dssdk rssdk rssdk2 pcap png vtk OpenMP EXT_DEPS ${SUBSYS_EXT_DEPS})
+diff --git a/kdtree/CMakeLists.txt b/kdtree/CMakeLists.txt
+index d9c94bb..e015aa3 100644
+--- a/kdtree/CMakeLists.txt
+++ b/kdtree/CMakeLists.txt
+@@ -2,7 +2,6 @@ set(SUBSYS_NAME kdtree)
+ set(SUBSYS_DESC "Point cloud kd-tree library")
+ set(SUBSYS_DEPS common)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS flann)
+ 
+diff --git a/keypoints/CMakeLists.txt b/keypoints/CMakeLists.txt
+index 480e022..de9189a 100644
+--- a/keypoints/CMakeLists.txt
+++ b/keypoints/CMakeLists.txt
+@@ -2,7 +2,6 @@ set(SUBSYS_NAME keypoints)
+ set(SUBSYS_DESC "Point cloud keypoints library")
+ set(SUBSYS_DEPS common search kdtree octree features filters)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
+ 
+diff --git a/ml/CMakeLists.txt b/ml/CMakeLists.txt
+index 98209be..a67a583 100644
+--- a/ml/CMakeLists.txt
+++ b/ml/CMakeLists.txt
+@@ -2,7 +2,6 @@ set(SUBSYS_NAME ml)
+ set(SUBSYS_DESC "Point cloud machine learning library")
+ set(SUBSYS_DEPS common)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+ 
+diff --git a/octree/CMakeLists.txt b/octree/CMakeLists.txt
+index b5c5843..5f5a431 100644
+--- a/octree/CMakeLists.txt
+++ b/octree/CMakeLists.txt
+@@ -2,7 +2,6 @@ set(SUBSYS_NAME octree)
+ set(SUBSYS_DESC "Point cloud octree library")
+ set(SUBSYS_DEPS common)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+ 
+diff --git a/people/CMakeLists.txt b/people/CMakeLists.txt
+index dca32d6..73780f0 100644
+--- a/people/CMakeLists.txt
+++ b/people/CMakeLists.txt
+@@ -1,19 +1,10 @@
+ set(SUBSYS_NAME people)
+ set(SUBSYS_DESC "Point cloud people library")
+ set(SUBSYS_DEPS common kdtree search sample_consensus filters io visualization geometry segmentation octree)
+set(EXT_DEPS vtk)
+ 
+-if(NOT VTK_FOUND)
+-  set(DEFAULT FALSE)
+-  set(REASON "VTK was not found.")
+-else()
+-  set(DEFAULT TRUE)
+-  set(REASON)
+-  include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+-endif()
+-
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+-PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
+ 
+ PCL_ADD_DOC("${SUBSYS_NAME}")
+ 
+diff --git a/recognition/CMakeLists.txt b/recognition/CMakeLists.txt
+index 84158dc..0cbd455 100644
+--- a/recognition/CMakeLists.txt
+++ b/recognition/CMakeLists.txt
+@@ -2,7 +2,6 @@ set(SUBSYS_NAME recognition)
+ set(SUBSYS_DESC "Point cloud recognition library")
+ set(SUBSYS_DEPS common io search kdtree octree features filters registration sample_consensus ml)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+ 
+diff --git a/sample_consensus/CMakeLists.txt b/sample_consensus/CMakeLists.txt
+index 8552bee..6565215 100644
+--- a/sample_consensus/CMakeLists.txt
+++ b/sample_consensus/CMakeLists.txt
+@@ -2,7 +2,6 @@ set(SUBSYS_NAME sample_consensus)
+ set(SUBSYS_DESC "Point cloud sample consensus library")
+ set(SUBSYS_DEPS common search)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS})
+ 
+diff --git a/search/CMakeLists.txt b/search/CMakeLists.txt
+index 0b93e52..e0296cd 100644
+--- a/search/CMakeLists.txt
+++ b/search/CMakeLists.txt
+@@ -2,7 +2,6 @@ set(SUBSYS_NAME search)
+ set(SUBSYS_DESC "Point cloud generic search library")
+ set(SUBSYS_DEPS common kdtree octree)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS flann)
+ 
+diff --git a/segmentation/CMakeLists.txt b/segmentation/CMakeLists.txt
+index f6cdf29..cb31b7b 100644
+--- a/segmentation/CMakeLists.txt
+++ b/segmentation/CMakeLists.txt
+@@ -2,7 +2,6 @@ set(SUBSYS_NAME segmentation)
+ set(SUBSYS_DESC "Point cloud segmentation library")
+ set(SUBSYS_DEPS common geometry search sample_consensus kdtree octree features filters ml)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
+ 
+diff --git a/simulation/CMakeLists.txt b/simulation/CMakeLists.txt
+index 22bb820..1002f5d 100644
+--- a/simulation/CMakeLists.txt
+++ b/simulation/CMakeLists.txt
+@@ -2,11 +2,6 @@ set(SUBSYS_NAME simulation)
+ set(SUBSYS_DESC "Point Cloud Library Simulation")
+ set(SUBSYS_DEPS common io surface kdtree features search octree visualization filters geometry)
+ 
+-set(build FALSE)
+-find_package(OpenGL)
+-
+-find_package(GLEW)
+-
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" OFF)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS opengl glew)
+ 
+diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
+index a4151e9..3362164 100644
+--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
+@@ -2,10 +2,8 @@ set(SUBSYS_NAME tools)
+ set(SUBSYS_DESC "Useful PCL-based command line tools")
+ set(SUBSYS_DEPS io)
+ set(SUBSYS_OPT_DEPS filters sample_consensus segmentation search kdtree features surface octree registration recognition geometry keypoints ml visualization vtk)
+-set(DEFAULT ON)
+-set(REASON "")
+ 
+-PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ${DEFAULT} ${REASON})
+PCL_SUBSYS_OPTION(build ${SUBSYS_NAME} ${SUBSYS_DESC} ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS ${SUBSYS_OPT_DEPS})
+ 
+ if(NOT build)
+diff --git a/tracking/CMakeLists.txt b/tracking/CMakeLists.txt
+index 985e4ce..78109d9 100644
+--- a/tracking/CMakeLists.txt
+++ b/tracking/CMakeLists.txt
+@@ -2,7 +2,6 @@ set(SUBSYS_NAME tracking)
+ set(SUBSYS_DESC "Point cloud tracking library")
+ set(SUBSYS_DEPS common search kdtree filters octree)
+ 
+-set(build TRUE)
+ PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} OPT_DEPS OpenMP)
+ 
+diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
+index 9c4e000..8cfd987 100644
+--- a/visualization/CMakeLists.txt
+++ b/visualization/CMakeLists.txt
+@@ -2,16 +2,7 @@ set(SUBSYS_NAME visualization)
+ set(SUBSYS_DESC "Point cloud visualization library")
+ set(SUBSYS_DEPS common io kdtree geometry search octree)
+ 
+-if(NOT VTK_FOUND)
+-  set(DEFAULT FALSE)
+-  set(REASON "VTK was not found.")
+-else()
+-  set(DEFAULT TRUE)
+-  set(REASON)
+-  include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+-endif()
+-
+-PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ON)
+ PCL_SUBSYS_DEPEND(build NAME ${SUBSYS_NAME} DEPS ${SUBSYS_DEPS} EXT_DEPS vtk OPT_DEPS openni openni2 ensenso davidSDK dssdk rssdk)
+ 
+ if(ANDROID)
+@@ -147,6 +138,12 @@ endif()
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${common_incs} ${impl_incs} ${common_impl_incs} ${vtk_incs})
+ 
+target_include_directories(${LIB_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>  
+)
+
+
+ # apple workaround (continued)
+ if(APPLE)
+   target_link_libraries("${LIB_NAME}" "-framework Cocoa")
--- a/ports/pcl/portfile.cmake
+++ b/ports/pcl/portfile.cmake
@ -14,6 +14,7 @@ vcpkg_from_github(
        no-absolute.patch
        fix-clang-cl.patch
        fix-pcl-exports.patch
+        fix-kinfu.patch
 )

 string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "dynamic" PCL_SHARED_LIBS)
--- a/ports/pcl/vcpkg.json
+++ b/ports/pcl/vcpkg.json
@ -1,7 +1,7 @@
 {
  "name": "pcl",
  "version": "1.14.0",
-  "port-version": 1,
+  "port-version": 2,
  "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",
@ -56,7 +56,8 @@
      "description": "CUDA support for PCL",
      "supports": "x64",
      "dependencies": [
-        "cuda"
+        "cuda",
+        "vtk"
      ]
    },
    "examples": {
--- a/versions/baseline.json
+++ b/versions/baseline.json
@ -6634,7 +6634,7 @@
    },
    "pcl": {
      "baseline": "1.14.0",
-      "port-version": 1
+      "port-version": 2
    },
    "pcre": {
      "baseline": "8.45",
--- a/versions/p-/pcl.json
+++ b/versions/p-/pcl.json
@ -1,5 +1,10 @@
 {
  "versions": [
+    {
+      "git-tree": "21bdd0f28179266f7d337a3503457bba19a7546f",
+      "version": "1.14.0",
+      "port-version": 2
+    },
    {
      "git-tree": "e4a3a2d2b7ad47ad0f55b10f1ba7401e65343610",
      "version": "1.14.0",