[ceres + downstreams] Update to ceres to 2.2.0 (#42475)

Co-authored-by: Billy Robert O'Neal III <bion@microsoft.com>
Co-authored-by: Kai Pastor <dg0yt@darc.de>

ports/cartographer/fix-build-error.patch

@@ -1,25 +0,0 @@
-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"

ports/cartographer/fix-cmake-location.patch

@@ -1,22 +0,0 @@
-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
- )
- 

ports/cartographer/fix-find-packages.patch

@@ -1,175 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 2e3a686..ed161e4 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("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
--google_initialize_cartographer_project()
--google_enable_testing()
-+#google_initialize_cartographer_project()
-+#google_enable_testing()
- 
- find_package(Boost REQUIRED COMPONENTS iostreams)
- find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
- find_package(Eigen3 REQUIRED)
--find_package(LuaGoogle REQUIRED)
--find_package(Protobuf 3.0.0 REQUIRED)
-+find_package(Lua REQUIRED)
-+find_package(Protobuf REQUIRED)
-+find_package(glog REQUIRED)
-+find_package(gflags REQUIRED)
- 
- if (${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
-@@ -213,18 +219,16 @@ 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
--  "${CAIRO_INCLUDE_DIRS}")
- target_link_libraries(${PROJECT_NAME} PUBLIC ${CAIRO_LIBRARIES})
- 
--target_include_directories(${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::libprotobuf)
- if(${BUILD_GRPC})
-   target_link_libraries(${PROJECT_NAME} PUBLIC grpc++)
-   target_link_libraries(${PROJECT_NAME} PUBLIC async_grpc)
-@@ -237,7 +241,7 @@ endif()
- set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
- set_target_properties(${PROJECT_NAME} PROPERTIES
-   COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
--
-+if(0)
- set(TEST_LIB
-   cartographer_test_library
- )
-@@ -265,7 +269,7 @@ foreach(ABS_FIL ${ALL_TESTS})
-   endif()
-   target_link_libraries("${TEST_TARGET_NAME}" PUBLIC ${TEST_LIB})
- endforeach()
--
-+endif()
- # Add the binary directory first, so that port.h is included after it has
- # been generated.
- target_include_directories(${PROJECT_NAME} PUBLIC
-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()

ports/cartographer/portfile.cmake

@@ -1,30 +0,0 @@
-vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
-
-vcpkg_from_github(
-    OUT_SOURCE_PATH SOURCE_PATH
-    REPO googlecartographer/cartographer
-    REF ${VERSION}
-    SHA512 4e3b38ee40d9758cbd51f087578b82efb7d1199b4b7696d31f45938ac06250caaea2b4d85ccb0a848c958ba187a0101ee95c87323ca236c613995b23b215041c
-    HEAD_REF master
-	PATCHES
-        fix-find-packages.patch
-        fix-build-error.patch
-        fix-cmake-location.patch
-)
-
-vcpkg_cmake_configure(
-    SOURCE_PATH "${SOURCE_PATH}"
-    OPTIONS_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")
-
-vcpkg_install_copyright(FILE_LIST "${SOURCE_PATH}/LICENSE")

ports/cartographer/vcpkg.json

@@ -1,30 +0,0 @@
-{
-  "name": "cartographer",
-  "version": "1.0.0",
-  "port-version": 6,
-  "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
-    }
-  ]
-}

ports/ceres/0001_cmakelists_fixes.patch

@@ -1,11 +1,68 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 33e98b1..f275d68 100644
+index 8e49c19e..f8c61d92 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -426,27 +426,7 @@ if (MINIGLOG)
+@@ -292,27 +292,28 @@ if (SUITESPARSE)
+   # built with SuiteSparse support.
+ 
+   # Check for SuiteSparse and dependencies.
+-  find_package(SuiteSparse 4.5.6 COMPONENTS CHOLMOD SPQR
+-    OPTIONAL_COMPONENTS Partition)
+-  if (SuiteSparse_FOUND)
+-    set(SuiteSparse_DEPENDENCY "find_dependency(SuiteSparse ${SuiteSparse_VERSION})")
++  find_package(SuiteSparse REQUIRED CONFIG)
++  if (SUITESPARSE_FOUND)
++    set(SuiteSparse_DEPENDENCY "find_dependency(SuiteSparse ${SuiteSparse_VERSION} CONFIG)")
+     # By default, if all of SuiteSparse's dependencies are found, Ceres is
+     # built with SuiteSparse support.
+     message("-- Found SuiteSparse ${SuiteSparse_VERSION}, "
+             "building with SuiteSparse.")
+-
+-    if (SuiteSparse_NO_CMAKE OR NOT SuiteSparse_DIR)
+-      install(FILES ${Ceres_SOURCE_DIR}/cmake/FindSuiteSparse.cmake
+-                    ${Ceres_SOURCE_DIR}/cmake/FindMETIS.cmake
+-              DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
+-    endif (SuiteSparse_NO_CMAKE OR NOT SuiteSparse_DIR)
+-  else (SuiteSparse_FOUND)
++    add_library(SuiteSparse::CONFIG ALIAS SuiteSparse::suitesparseconfig)
++    add_library(SuiteSparse::AMD ALIAS SuiteSparse::amd)
++    add_library(SuiteSparse::CAMD ALIAS SuiteSparse::camd)
++    add_library(SuiteSparse::CCOLAMD ALIAS SuiteSparse::ccolamd)
++    add_library(SuiteSparse::COLAMD ALIAS SuiteSparse::colamd)
++    add_library(SuiteSparse::CHOLMOD ALIAS SuiteSparse::cholmod)
++    add_library(SuiteSparse::SPQR ALIAS SuiteSparse::spqr)
++    add_library(METIS::METIS ALIAS metis)
++  else (SUITESPARSE_FOUND)
+     # Disable use of SuiteSparse if it cannot be found and continue.
+     message("-- Did not find all SuiteSparse dependencies, disabling "
+       "SuiteSparse support.")
+     update_cache_variable(SUITESPARSE OFF)
+     list(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE)
+-  endif (SuiteSparse_FOUND)
++  endif (SUITESPARSE_FOUND)
+ else (SUITESPARSE)
+   message("-- Building without SuiteSparse.")
+   list(APPEND CERES_COMPILE_OPTIONS CERES_NO_SUITESPARSE)
+@@ -395,9 +396,12 @@ endif()
+ # GFlags.
+ if (GFLAGS)
+   # Don't search with REQUIRED as we can continue without gflags.
+-  find_package(gflags 2.2.0)
++  find_package(gflags CONFIG REQUIRED)
+   if (gflags_FOUND)
+-    if (TARGET gflags)
++    if (TARGET gflags::gflags)
++      if(NOT TARGET gflags)
++        add_library(gflags ALIAS gflags::gflags)
++      endif()
+       message("-- Found Google Flags (gflags) version ${gflags_VERSION}: ${gflags_DIR}")
+     else()
+       message("-- Detected version of gflags: ${gflags_VERSION} does not define "
+@@ -430,28 +434,7 @@ if (MINIGLOG)
+   mark_as_advanced(FORCE GLOG_INCLUDE_DIR
                           GLOG_LIBRARY)
  else (MINIGLOG)
-   unset(MINIGLOG_MAX_LOG_LEVEL CACHE)
+-  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)
@@ -29,9 +86,18 @@ index 33e98b1..f275d68 100644
 -  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"
+@@ -466,7 +449,7 @@ endif (NOT CUSTOM_BLAS)
+ 
+ if (BUILD_BENCHMARKS)
+   # Version 1.3 was first to provide import targets
+-  find_package(benchmark 1.3 QUIET)
++  find_package(benchmark CONFIG REQUIRED)
+   if (benchmark_FOUND)
+      message("-- Found Google benchmark library. Building Ceres benchmarks.")
+   else()
+@@ -722,12 +705,6 @@ install(FILES "${Ceres_BINARY_DIR}/CeresConfig-install.cmake"
          DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
  install(FILES "${Ceres_BINARY_DIR}/CeresConfigVersion.cmake"
          DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
@@ -41,6 +107,6 @@ index 33e98b1..f275d68 100644
 -  install(FILES "${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.

ports/ceres/0002_use_glog_target.patch

@@ -1,10 +1,10 @@
 diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
-index 0e33263..299b373 100644
+index f9fc2415..0aaabe4d 100644
 --- a/internal/ceres/CMakeLists.txt
 +++ b/internal/ceres/CMakeLists.txt
-@@ -101,17 +101,9 @@ endif()
+@@ -85,17 +85,9 @@ endif (SCHUR_SPECIALIZATIONS)
- find_package(Threads QUIET)
+ set_source_files_properties(${CERES_INTERNAL_SCHUR_FILES} PROPERTIES
- list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES Threads::Threads)
+   SKIP_UNITY_BUILD_INCLUSION ON)
  
 -if (NOT MINIGLOG AND GLOG_FOUND)
 -  list(APPEND CERES_LIBRARY_PUBLIC_DEPENDENCIES ${GLOG_LIBRARIES})

ports/ceres/0003_fix_exported_ceres_config.patch

@@ -1,8 +1,17 @@
 diff --git a/cmake/CeresConfig.cmake.in b/cmake/CeresConfig.cmake.in
-index 4745483..b55462d 100644
+index ceb7e269..5dee7e3c 100644
 --- a/cmake/CeresConfig.cmake.in
 +++ b/cmake/CeresConfig.cmake.in
-@@ -217,55 +217,14 @@ else (Eigen3_FOUND)
+@@ -195,7 +195,7 @@ set(CERES_EIGEN_VERSION @Eigen3_VERSION@)
+ # Search quietly to control the timing of the error message if not found. The
+ # search should be for an exact match, but for usability reasons do a soft
+ # match and reject with an explanation below.
+-find_package(Eigen3 ${CERES_EIGEN_VERSION} QUIET)
++find_package(Eigen3 CONFIG ${CERES_EIGEN_VERSION} QUIET)
+ if (Eigen3_FOUND)
+   if (NOT Eigen3_VERSION VERSION_EQUAL CERES_EIGEN_VERSION)
+     # CMake's VERSION check in FIND_PACKAGE() will accept any version >= the
+@@ -217,55 +217,8 @@ else (Eigen3_FOUND)
  endif (Eigen3_FOUND)
  
  # glog (and maybe gflags).
@@ -35,15 +44,13 @@ index 4745483..b55462d 100644
 -    # Search quietly s/t we control the timing of the error message if not found.
 -    find_package(Glog QUIET)
 -  endif()
- 
+-
 -  if (GLOG_FOUND)
 -    ceres_message(STATUS "Found required Ceres dependency: glog")
 -  else()
 -    ceres_report_not_found("Missing required Ceres dependency: glog.")
 -  endif()
-+include (CMakeFindDependencyMacro)
+-
-+find_dependency (glog NO_MODULE)
- 
 -  # gflags is only a public dependency of Ceres via glog, thus is not required
 -  # if Ceres was built with MINIGLOG.
 -  if (CERES_USES_GFLAGS)
@@ -57,10 +64,8 @@ index 4745483..b55462d 100644
 -    endif()
 -  endif()
 -endif(CERES_USES_MINIGLOG)
-+# SuiteSparse
++include(CMakeFindDependencyMacro)
-+if (@SUITESPARSE@)
++find_dependency(glog NO_MODULE)
-+    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)

ports/ceres/0004_remove_broken_fake_ba_jac.patch

@@ -0,0 +1,67 @@
+diff --git a/internal/ceres/fake_bundle_adjustment_jacobian.cc b/internal/ceres/fake_bundle_adjustment_jacobian.cc
+index efe4d8d7..22f34059 100644
+--- a/internal/ceres/fake_bundle_adjustment_jacobian.cc
++++ b/internal/ceres/fake_bundle_adjustment_jacobian.cc
+@@ -96,25 +96,4 @@ std::unique_ptr<BlockSparseMatrix> CreateFakeBundleAdjustmentJacobian(
+   return jacobian;
+ }
+ 
+-std::pair<
+-    std::unique_ptr<PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>>,
+-    std::unique_ptr<BlockSparseMatrix>>
+-CreateFakeBundleAdjustmentPartitionedJacobian(int num_cameras,
+-                                              int num_points,
+-                                              int camera_size,
+-                                              int landmark_size,
+-                                              double visibility,
+-                                              std::mt19937& rng) {
+-  using PartitionedView =
+-      PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>;
+-  auto block_sparse_matrix = CreateFakeBundleAdjustmentJacobian(
+-      num_cameras, num_points, camera_size, landmark_size, visibility, rng);
+-  LinearSolver::Options options;
+-  options.elimination_groups.push_back(num_points);
+-  auto partitioned_view =
+-      std::make_unique<PartitionedView>(options, *block_sparse_matrix);
+-  return std::make_pair(std::move(partitioned_view),
+-                        std::move(block_sparse_matrix));
+-}
+-
+ }  // namespace ceres::internal
+diff --git a/internal/ceres/fake_bundle_adjustment_jacobian.h b/internal/ceres/fake_bundle_adjustment_jacobian.h
+index ced1b161..0448dbf3 100644
+--- a/internal/ceres/fake_bundle_adjustment_jacobian.h
++++ b/internal/ceres/fake_bundle_adjustment_jacobian.h
+@@ -47,32 +47,6 @@ std::unique_ptr<BlockSparseMatrix> CreateFakeBundleAdjustmentJacobian(
+     double visibility,
+     std::mt19937& prng);
+ 
+-template <int kEBlockSize = 3, int kFBlockSize = 6>
+-std::pair<std::unique_ptr<PartitionedMatrixView<2, kEBlockSize, kFBlockSize>>,
+-          std::unique_ptr<BlockSparseMatrix>>
+-CreateFakeBundleAdjustmentPartitionedJacobian(int num_cameras,
+-                                              int num_points,
+-                                              double visibility,
+-                                              std::mt19937& rng) {
+-  using PartitionedView = PartitionedMatrixView<2, kEBlockSize, kFBlockSize>;
+-  auto block_sparse_matrix = CreateFakeBundleAdjustmentJacobian(
+-      num_cameras, num_points, kFBlockSize, kEBlockSize, visibility, rng);
+-  auto partitioned_view =
+-      std::make_unique<PartitionedView>(*block_sparse_matrix, num_points);
+-  return std::make_pair(std::move(partitioned_view),
+-                        std::move(block_sparse_matrix));
+-}
+-
+-std::pair<
+-    std::unique_ptr<PartitionedMatrixView<2, Eigen::Dynamic, Eigen::Dynamic>>,
+-    std::unique_ptr<BlockSparseMatrix>>
+-CreateFakeBundleAdjustmentPartitionedJacobian(int num_cameras,
+-                                              int num_points,
+-                                              int camera_size,
+-                                              int landmark_size,
+-                                              double visibility,
+-                                              std::mt19937& rng);
+-
+ }  // namespace ceres::internal
+ 
+ #endif  // CERES_INTERNAL_FAKE_BUNDLE_ADJUSTMENT_JACOBIAN

ports/ceres/find-package-required.patch

@@ -1,112 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 2d241fe..b79454d 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -244,7 +244,7 @@ else (CUDA)
- endif (CUDA)
- 
- if (LAPACK)
--  find_package(LAPACK QUIET)
-+  find_package(LAPACK REQUIRED)
-   if (LAPACK_FOUND)
-     message("-- Found LAPACK library: ${LAPACK_LIBRARIES}")
-   else (LAPACK_FOUND)
-@@ -266,7 +266,8 @@ if (SUITESPARSE)
-   # built with SuiteSparse support.
- 
-   # Check for SuiteSparse and dependencies.
--  find_package(SuiteSparse 4.0 COMPONENTS CHOLMOD SPQR)
-+  find_package(suitesparse CONFIG REQUIRED)
-+  set(SuiteSparse_FOUND 1)
-   if (SuiteSparse_FOUND)
-     set(SuiteSparse_DEPENDENCY "find_dependency(SuiteSparse ${SuiteSparse_VERSION})")
-     # By default, if all of SuiteSparse's dependencies are found, Ceres is
-@@ -274,11 +275,11 @@ if (SUITESPARSE)
-     message("-- Found SuiteSparse ${SuiteSparse_VERSION}, "
-             "building with SuiteSparse.")
- 
--    if (SuiteSparse_NO_CMAKE OR NOT SuiteSparse_DIR)
-+    if (0)
-       install(FILES ${Ceres_SOURCE_DIR}/cmake/FindSuiteSparse.cmake
-                     ${Ceres_SOURCE_DIR}/cmake/FindMETIS.cmake
-               DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
--    endif (SuiteSparse_NO_CMAKE OR NOT SuiteSparse_DIR)
-+    endif ()
-   else (SuiteSparse_FOUND)
-     # Disable use of SuiteSparse if it cannot be found and continue.
-     message("-- Did not find all SuiteSparse dependencies, disabling "
-@@ -294,7 +295,7 @@ 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)
-     set(CXSparse_DEPENDENCY "find_dependency(CXSparse ${CXSparse_VERSION})")
-     # By default, if CXSparse and all dependencies are found, Ceres is
-@@ -302,10 +303,10 @@ if (CXSPARSE)
-     message("-- Found CXSparse version: ${CXSparse_VERSION}, "
-       "building with CXSparse.")
- 
--    if (CXSparse_NO_CMAKE OR NOT CXSparse_DIR)
-+    if (0)
-       install(FILES ${Ceres_SOURCE_DIR}/cmake/FindCXSparse.cmake
-               DESTINATION ${RELATIVE_CMAKECONFIG_INSTALL_DIR})
--    endif (CXSparse_NO_CMAKE OR NOT CXSparse_DIR)
-+    endif ()
-   else (CXSparse_FOUND)
-     # Disable use of CXSparse if it cannot be found and continue.
-     message("-- Did not find CXSparse, Building without CXSparse.")
-@@ -367,9 +368,10 @@ endif()
- # GFlags.
- if (GFLAGS)
-   # Don't search with REQUIRED as we can continue without gflags.
--  find_package(gflags 2.2.0)
-+  find_package(gflags CONFIG REQUIRED)
-   if (gflags_FOUND)
--    if (TARGET gflags)
-+    if (TARGET gflags::gflags)
-+      add_library(gflags ALIAS gflags::gflags)
-       message("-- Found Google Flags (gflags) version ${gflags_VERSION}: ${gflags_DIR}")
-     else()
-       message("-- Detected version of gflags: ${gflags_VERSION} does not define "
-@@ -420,7 +422,7 @@ set_ceres_threading_model("${CERES_THREADING_MODEL}")
- 
- if (BUILD_BENCHMARKS)
-   # Version 1.3 was first to provide import targets
--  find_package(benchmark 1.3 QUIET)
-+  find_package(benchmark CONFIG REQUIRED)
-   if (benchmark_FOUND)
-      message("-- Found Google benchmark library. Building Ceres benchmarks.")
-   else()
-@@ -611,7 +613,7 @@ create_ceres_config("${CERES_COMPILE_OPTIONS}"
- add_subdirectory(internal/ceres)
- 
- if (BUILD_DOCUMENTATION)
--  find_package(Sphinx)
-+  find_package(Sphinx REQUIRED)
-   if (NOT SPHINX_FOUND)
-     message("-- Failed to find Sphinx and/or its dependencies, disabling build of documentation.")
-     update_cache_variable(BUILD_DOCUMENTATION OFF)
-diff --git a/internal/ceres/CMakeLists.txt b/internal/ceres/CMakeLists.txt
-index 299b373..33d41d8 100644
---- a/internal/ceres/CMakeLists.txt
-+++ b/internal/ceres/CMakeLists.txt
-@@ -108,14 +108,14 @@ endif (NOT MINIGLOG)
- if (SUITESPARSE AND SuiteSparse_FOUND)
-   # Define version information for use in Solver::FullReport.
-   add_definitions(-DCERES_SUITESPARSE_VERSION="${SuiteSparse_VERSION}")
--  list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES SuiteSparse::CHOLMOD
--    SuiteSparse::SPQR)
-+  list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES SuiteSparse::cholmod
-+    SuiteSparse::spqr)
- endif (SUITESPARSE AND SuiteSparse_FOUND)
- 
- if (CXSPARSE AND CXSparse_FOUND)
-   # Define version information for use in Solver::FullReport.
-   add_definitions(-DCERES_CXSPARSE_VERSION="${CXSparse_VERSION}")
--  list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES CXSparse::CXSparse)
-+  list(APPEND CERES_LIBRARY_PRIVATE_DEPENDENCIES ${CXSparse_LIBRARIES})
- endif (CXSPARSE AND CXSparse_FOUND)
- 
- if (ACCELERATESPARSE AND AccelerateSparse_FOUND)

ports/ceres/portfile.cmake

@@ -9,17 +9,16 @@ endif()
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO ceres-solver/ceres-solver
-    REF f68321e7de8929fbcdb95dd42877531e64f72f66 #2.1.0
+    REF 85331393dc0dff09f6fb9903ab0c4bfa3e134b01 #2.2.0
-    SHA512 67bbd8a9385a40fe69d118fbc84da0fcc9aa1fbe14dd52f5403ed09686504213a1d931e95a1a0148d293b27ab5ce7c1d618fbf2e8fed95f2bbafab851a1ef449
+    SHA512 16d3f4f3524b7532f666c0a626f1c678170698119eff3d914ade2e7cc65f25e644c2eabb618cd5805cba0fd4e08d3f64658a9f480934d8aace4089ec42b3d691
     HEAD_REF master
     PATCHES
         0001_cmakelists_fixes.patch
         0002_use_glog_target.patch
         0003_fix_exported_ceres_config.patch
-        find-package-required.patch
+        0004_remove_broken_fake_ba_jac.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")
@@ -30,7 +29,6 @@ vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
     FEATURES
         "schur"             SCHUR_SPECIALIZATIONS
         "suitesparse"       SUITESPARSE
-        "cxsparse"          CXSPARSE
         "lapack"            LAPACK
         "eigensparse"       EIGENSPARSE
         "tools"             GFLAGS
@@ -44,6 +42,11 @@ foreach (FEATURE ${FEATURE_OPTIONS})
     message(STATUS "${FEATURE}")
 endforeach()
 
+set(USE_CUDA OFF)
+if("cuda" IN_LIST FEATURES)
+    set(USE_CUDA ON)
+endif()
+
 set(TARGET_OPTIONS )
 if(VCPKG_TARGET_IS_IOS)
     # Note: CMake uses "OSX" not just for macOS, but also iOS, watchOS and tvOS.
@@ -60,9 +63,12 @@ vcpkg_cmake_configure(
         -DBUILD_EXAMPLES=OFF
         -DBUILD_TESTING=OFF
         -DBUILD_BENCHMARKS=OFF
+        -DUSE_CUDA=${USE_CUDA}
         -DPROVIDE_UNINSTALL_TARGET=OFF
         -DMSVC_USE_STATIC_CRT=${MSVC_USE_STATIC_CRT_VALUE}
-        -DLIB_SUFFIX=${LIB_SUFFIX}
+    MAYBE_UNUSED_VARIABLES
+        CUDA
+        MSVC_USE_STATIC_CRT
 )
 
 vcpkg_cmake_install()

ports/ceres/vcpkg.json

@@ -1,7 +1,6 @@
 {
   "name": "ceres",
-  "version": "2.1.0",
+  "version": "2.2.0",
-  "port-version": 5,
   "description": "non-linear optimization package",
   "homepage": "https://github.com/ceres-solver/ceres-solver",
   "license": "Apache-2.0",
@@ -28,17 +27,6 @@
         "cuda"
       ]
     },
-    "cxsparse": {
-      "description": "CXSparse support for Ceres",
-      "dependencies": [
-        {
-          "name": "ceres",
-          "features": [
-            "suitesparse"
-          ]
-        }
-      ]
-    },
     "eigensparse": {
       "description": "Use of Eigen as a sparse linear algebra library in Ceres"
     },

ports/openmvg/0002-eigen-3.4.patch

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

ports/openmvg/build_fixes.patch

@@ -1,32 +1,32 @@
 diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
-index 5d909ec..ab7eb6f 100644
+index 6879c4c6..edf4e5b2 100644
 --- a/src/CMakeLists.txt
 +++ b/src/CMakeLists.txt
-@@ -20,6 +20,7 @@ if (${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
+@@ -24,6 +24,7 @@ endif()
-   message(FATAL_ERROR "In-source builds not allowed.")
+ 
- endif()
+ set(CMAKE_FIND_FRAMEWORK LAST)
  
 +if(0)
  # ==============================================================================
  # OpenMVG build options
  # ==============================================================================
-@@ -37,6 +38,7 @@ option(OpenMVG_USE_OPENMP "Enable OpenMP parallelization" ON)
+@@ -59,6 +60,7 @@ option(OpenMVG_USE_OCVSIFT "Add or not OpenCV SIFT in available features" OFF)
- #  and openMVG simultaneously
+ # Enable this to be able to use LiGT in main_SfM.
  # ==============================================================================
- option(OpenMVG_USE_OPENCV "Build or not opencv+openMVG samples programs" OFF)
+ option(OpenMVG_USE_LIGT "Add or not LiGT in available" ON)
 +endif()
  
  # ==============================================================================
- # Since OpenCV 3, SIFT is no longer in the default modules. See
+ # OpenMVG version
-@@ -95,6 +97,7 @@ if (CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+@@ -104,6 +106,7 @@ else (OpenMVG_BUILD_SHARED)
-   register_definitions(-DOPENMVG_STD_UNORDERED_MAP)
+   set(BUILD_SHARED_LIBS OFF)
  endif()
  
 +if(0)
  # ==============================================================================
  # Check that submodule have been initialized and updated
  # ==============================================================================
-@@ -103,6 +106,7 @@ if (NOT EXISTS ${PROJECT_SOURCE_DIR}/dependencies/cereal/include)
+@@ -112,6 +115,7 @@ if (NOT EXISTS ${PROJECT_SOURCE_DIR}/dependencies/cereal/include)
      "\n submodule(s) are missing, please update your repository:\n"
      "  > git submodule update -i\n")
  endif()
@@ -34,27 +34,7 @@ index 5d909ec..ab7eb6f 100644
  
  # ==============================================================================
  # Additional cmake find modules
-@@ -138,7 +142,6 @@ if (OpenMVG_USE_OPENMP)
+@@ -191,9 +195,10 @@ endif()
-   find_package(OpenMP)
-   if (OPENMP_FOUND)
-     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
--    option(OpenMVG_USE_OPENMP "Use OpenMP for parallelization" ON)
-     register_definitions(-DOPENMVG_USE_OPENMP)
-     if (NOT MSVC)
-       if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-@@ -149,11 +152,6 @@ if (OpenMVG_USE_OPENMP)
-       endif()
-     endif (NOT MSVC)
-   endif (OPENMP_FOUND)
--else (OpenMVG_USE_OPENMP)
--    option(OpenMVG_USE_OPENMP "Use OpenMP for parallelization" OFF)
--    include(UpdateCacheVariable)
--    UPDATE_CACHE_VARIABLE(OpenMVG_USE_OPENMP OFF)
--    remove_definitions(-DOPENMVG_USE_OPENMP)
- endif (OpenMVG_USE_OPENMP)
- 
- # ==============================================================================
-@@ -170,9 +168,10 @@ endif()
  # ==============================================================================
  # IMAGE IO detection
  # ==============================================================================
@@ -68,43 +48,7 @@ index 5d909ec..ab7eb6f 100644
  
  # Folders
  set_property(GLOBAL PROPERTY USE_FOLDERS ON)
-@@ -192,6 +191,7 @@ if (OpenMVG_BUILD_OPENGL_EXAMPLES)
+@@ -281,6 +286,7 @@ endif()
-   set_property(TARGET glfw PROPERTY FOLDER OpenMVG/3rdParty/glfw)
- endif (OpenMVG_BUILD_OPENGL_EXAMPLES)
- 
-+if(0)
- # Dependencies install rules
- install(
-   DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/dependencies/
-@@ -199,6 +199,7 @@ install(
-   COMPONENT headers
-   FILES_MATCHING PATTERN "*.hpp" PATTERN "*.h"
- )
-+endif()
- 
- # ==============================================================================
- # --END-- SUBMODULE CONFIGURATION
-@@ -235,6 +236,7 @@ ENDMACRO(UNIT_TEST)
- # - external by default
- # - internal if cereal not found
- # ==============================================================================
-+if(0)
- find_package(cereal QUIET CONFIG)
- if (NOT TARGET cereal)
-   add_library(cereal INTERFACE)
-@@ -247,7 +249,11 @@ if (NOT TARGET cereal)
- 
-   set(OpenMVG_USE_INTERNAL_CEREAL ON)
- endif()
-+endif()
- 
-+find_package(cereal REQUIRED CONFIG)
-+get_target_property(CEREAL_INCLUDE_DIRS cereal::cereal INTERFACE_INCLUDE_DIRECTORIES)
-+ 
- # ==============================================================================
- # Eigen
- # ==============================================================================
-@@ -255,6 +261,7 @@ endif()
  # - external if EIGEN_INCLUDE_DIR_HINTS is defined
  # - internal if Eigen not found
  # ==============================================================================
@@ -112,18 +56,19 @@ index 5d909ec..ab7eb6f 100644
  find_package(Eigen3 QUIET)
  if (NOT Eigen3_FOUND)
    set(EIGEN_INCLUDE_DIR_HINTS ${CMAKE_CURRENT_SOURCE_DIR}/third_party/eigen)
-@@ -263,6 +270,10 @@ if (NOT Eigen3_FOUND)
+@@ -289,7 +295,11 @@ if (NOT Eigen3_FOUND)
  else()
    set(EIGEN_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
  endif()
 +endif()
-+ 
++
+ add_definitions(-DEIGEN_MPL2_ONLY)
 +find_package(Eigen3 REQUIRED)
 +set(EIGEN_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
  
  # ==============================================================================
  # Ceres
-@@ -270,6 +281,7 @@ endif()
+@@ -297,6 +307,7 @@ add_definitions(-DEIGEN_MPL2_ONLY)
  # - external by default if CERES_DIR_HINTS or find_package found a valid Ceres
  # - internal if ceres not found (ceres-solver+cxsparse+miniglog)
  # ==============================================================================
@@ -131,17 +76,17 @@ index 5d909ec..ab7eb6f 100644
  find_package(Ceres QUIET HINTS ${CERES_DIR_HINTS})
  if (NOT Ceres_FOUND)
    set(OpenMVG_USE_INTERNAL_CERES ON)
-@@ -281,6 +293,9 @@ if (NOT Ceres_FOUND)
+@@ -308,6 +319,9 @@ if (NOT Ceres_FOUND)
      STRING(REGEX REPLACE "version ([0-9.]+).*" "\\1" CERES_VERSION ${CERES_CONFIG})
    set(CERES_LIBRARIES openMVG_ceres)
  endif()
 +endif()
-+ 
++
 +find_package(Ceres REQUIRED)
  
  # ==============================================================================
  # Flann
-@@ -288,6 +303,7 @@ endif()
+@@ -315,6 +329,7 @@ endif()
  # - internal by default (flann),
  # - external if FLANN_INCLUDE_DIR_HINTS and a valid Flann setup is found
  # ==============================================================================
@@ -149,17 +94,33 @@ index 5d909ec..ab7eb6f 100644
  if (NOT DEFINED FLANN_INCLUDE_DIR_HINTS)
    set(FLANN_INCLUDE_DIR_HINTS ${CMAKE_CURRENT_SOURCE_DIR}/third_party/flann/src/cpp)
    set(OpenMVG_USE_INTERNAL_FLANN ON)
-@@ -296,6 +312,9 @@ find_package(Flann QUIET)
+@@ -330,6 +345,9 @@ endif()
  if (NOT FLANN_FOUND OR OpenMVG_USE_INTERNAL_FLANN)
    set(FLANN_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/third_party/flann/src/cpp)
  endif()
 +endif()
-+ 
++
 +find_package(flann REQUIRED)
-
+ 
  # ==============================================================================
  # CoinUtils
-@@ -364,6 +395,7 @@ endif()
+@@ -356,13 +374,13 @@ endif()
+ if (NOT DEFINED CLP_INCLUDE_DIR_HINTS)
+   set(CLP_INCLUDE_DIR_HINTS ${CMAKE_CURRENT_SOURCE_DIR}/dependencies/osi_clp/Clp/src/)
+   set(OpenMVG_USE_INTERNAL_CLP ON)
+-  find_package(Clp QUIET)
++  find_package(Clp REQUIRED)
+   set(CLP_INCLUDE_DIRS
+      ${CMAKE_CURRENT_SOURCE_DIR}/dependencies/osi_clp/Clp/src/
+      ${CMAKE_CURRENT_SOURCE_DIR}/dependencies/osi_clp/Clp/src/OsiClp/)
+   set(CLP_LIBRARIES lib_clp lib_OsiClpSolver)
+ else()
+-  find_package(Clp QUIET)
++  find_package(Clp REQUIRED)
+ endif()
+ 
+ # ==============================================================================
+@@ -398,6 +416,7 @@ endif()
  # - internal by default (Lemon),
  # - external if LEMON_INCLUDE_DIR_HINTS and a valid Lemon setup is found
  # ==============================================================================
@@ -167,7 +128,7 @@ index 5d909ec..ab7eb6f 100644
  if (NOT DEFINED LEMON_INCLUDE_DIR_HINTS)
    set(LEMON_INCLUDE_DIR_HINTS ${CMAKE_CURRENT_SOURCE_DIR}/third_party/lemon)
    set(OpenMVG_USE_INTERNAL_LEMON ON)
-@@ -374,6 +406,9 @@ if (NOT LEMON_FOUND OR OpenMVG_USE_INTERNAL_LEMON)
+@@ -408,13 +427,16 @@ if (NOT LEMON_FOUND OR OpenMVG_USE_INTERNAL_LEMON)
      ${CMAKE_CURRENT_SOURCE_DIR}/third_party/lemon
      ${PROJECT_BINARY_DIR}/third_party/lemon)
  endif()
@@ -177,21 +138,24 @@ index 5d909ec..ab7eb6f 100644
  
  # ==============================================================================
  # OpenCV
-@@ -381,12 +416,7 @@ endif()
+ # ==============================================================================
  # - only external and enabled only if OpenMVG_USE_OPENCV is set to ON
  # ==============================================================================
- if (OpenMVG_USE_OPENCV)
+-if (OpenMVG_USE_OPENCV)
--  find_package( OpenCV QUIET )
++if (0)
--  if (NOT OpenCV_FOUND OR OpenCV_VERSION VERSION_LESS "3.0.0")
+   find_package( OpenCV QUIET )
--    message(STATUS "OpenCV was not found (note that OpenCV version >= 3.0.0 is required). -> Disabling OpenCV support.")
+   if (NOT OpenCV_FOUND OR OpenCV_VERSION VERSION_LESS "3.0.0")
--    UPDATE_CACHE_VARIABLE(OpenMVG_USE_OPENCV OFF)
+     message(STATUS "OpenCV was not found (note that OpenCV version >= 3.0.0 is required). -> Disabling OpenCV support.")
--    UPDATE_CACHE_VARIABLE(OpenMVG_USE_OCVSIFT OFF)
+@@ -429,7 +451,7 @@ endif()
--  endif()
+ # ==============================================================================
-+    find_package( OpenCV REQUIRED )
+ # - enabled only if OpenMVG_USE_LIGT is set to ON
+ # ==============================================================================
+-if (OpenMVG_USE_LIGT)
++if (0)
+     add_definitions(-DUSE_PATENTED_LIGT)
  endif()
  
- 
+@@ -438,7 +460,6 @@ endif()
-@@ -394,7 +424,6 @@ endif()
  # Third-party libraries:
  # ==============================================================================
  add_subdirectory(third_party)
@@ -199,7 +163,28 @@ index 5d909ec..ab7eb6f 100644
  
  # ==============================================================================
  # openMVG modules
-@@ -481,67 +510,67 @@ message("** Use OpenCV SIFT features: " ${OpenMVG_USE_OCVSIFT})
+@@ -447,9 +468,9 @@ add_subdirectory(testing)
+ add_subdirectory(openMVG)
+ 
+ # openMVG tutorial examples
+-if (OpenMVG_BUILD_EXAMPLES)
++if (0)
+   add_subdirectory(openMVG_Samples)
+-endif (OpenMVG_BUILD_EXAMPLES)
++endif ()
+ 
+ # Complete software(s) build on openMVG libraries
+ if (OpenMVG_BUILD_SOFTWARES)
+@@ -464,7 +485,7 @@ add_subdirectory(nonFree)
+ # --------------------------
+ # Sphinx detection
+ # ==============================================================================
+-if (OpenMVG_BUILD_DOC)
++if (0)
+   find_package(Sphinx)
+   if (EXISTS ${SPHINX_EXECUTABLE})
+     set(SPHINX_HTML_DIR "${CMAKE_CURRENT_BINARY_DIR}/htmlDoc")
+@@ -526,67 +547,67 @@ message("** Use LiGT for global translation estimation: " ${OpenMVG_USE_LIGT})
  
  message("\n")
  
@@ -278,356 +263,8 @@ index 5d909ec..ab7eb6f 100644
    message(STATUS "LEMON: " ${LEMON_VERSION} " (internal)")
  else()
    message(STATUS "LEMON: " ${LEMON_VERSION} " (external)")
-diff --git a/src/cmakeFindModules/OpenMVGConfig.cmake.in b/src/cmakeFindModules/OpenMVGConfig.cmake.in
-index e7dfbfd..65224c4 100644
---- a/src/cmakeFindModules/OpenMVGConfig.cmake.in
-+++ b/src/cmakeFindModules/OpenMVGConfig.cmake.in
-@@ -19,7 +19,7 @@
- # OPENMVG_VERSION: Version of OpenMVG found.
- #
- 
--# Called if we failed to find OpenMVG or any of it's required dependencies,
-+# Called if we failed to find OpenMVG or any of its required dependencies,
- # unsets all public (designed to be used externally) variables and reports
- # error message at priority depending upon [REQUIRED/QUIET/<NONE>] argument.
- macro(OPENMVG_REPORT_NOT_FOUND REASON_MSG)
-@@ -58,10 +58,17 @@ set(CALLERS_CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH})
- # Reset CMake module path to the installation directory of this
- # script.
- set(CMAKE_MODULE_PATH ${CURRENT_CONFIG_INSTALL_DIR})
-+include(CMakeFindDependencyMacro)
-+
-+find_dependency(flann)
-+find_dependency(Threads)
-+find_dependency(cereal)
-+find_dependency(Ceres)
-+find_dependency(vlfeat)
- 
- # Build the absolute root install directory as a relative path
- get_filename_component(CURRENT_ROOT_INSTALL_DIR
--  ${CMAKE_MODULE_PATH}/../../../ ABSOLUTE)
-+  ${CMAKE_MODULE_PATH}/../../ ABSOLUTE)
- if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
-   OPENMVG_REPORT_NOT_FOUND(
-     "OpenMVG install root: ${CURRENT_ROOT_INSTALL_DIR}, "
-diff --git a/src/nonFree/sift/CMakeLists.txt b/src/nonFree/sift/CMakeLists.txt
-index 402a2d8..60ddc11 100644
---- a/src/nonFree/sift/CMakeLists.txt
-+++ b/src/nonFree/sift/CMakeLists.txt
-@@ -1,36 +1,36 @@
- 
--# libs should be static
--set(BUILD_SHARED_LIBS OFF)
--
--# use PIC code for link into shared lib
--if(UNIX)
--  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
--endif(UNIX)
--
--if(NOT USE_SSE2)
--  add_definitions(-DVL_DISABLE_SSE2)
--endif()
--
--add_definitions(-DVL_DISABLE_THREADS)
--
--include_directories(./vl)
--set(FEATS
--  vl/generic.c
--  vl/imopv_sse2.c
--  vl/sift.c
--  vl/imopv.c
--  vl/mathop_sse2.c
--  vl/sift.c
--  vl/host.c
--  vl/mathop.c
--  vl/random.c)
--set_source_files_properties(${FEATS} PROPERTIES LANGUAGE C)
--add_library(vlsift ${FEATS})
--install(TARGETS vlsift DESTINATION lib EXPORT openMVG-targets)
--set_property(TARGET vlsift PROPERTY FOLDER OpenMVG/nonFree)
-+## libs should be static
-+#set(BUILD_SHARED_LIBS OFF)
-+#
-+## use PIC code for link into shared lib
-+#if(UNIX)
-+#  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC")
-+#endif(UNIX)
-+#
-+#if(NOT USE_SSE2)
-+#  add_definitions(-DVL_DISABLE_SSE2)
-+#endif()
-+#
-+#add_definitions(-DVL_DISABLE_THREADS)
-+#
-+#include_directories(./vl)
-+#set(FEATS
-+#  vl/generic.c
-+#  vl/imopv_sse2.c
-+#  vl/sift.c
-+#  vl/imopv.c
-+#  vl/mathop_sse2.c
-+#  vl/sift.c
-+#  vl/host.c
-+#  vl/mathop.c
-+#  vl/random.c)
-+#set_source_files_properties(${FEATS} PROPERTIES LANGUAGE C)
-+#add_library(vlsift ${FEATS})
-+#install(TARGETS vlsift DESTINATION lib EXPORT openMVG-targets)
-+#set_property(TARGET vlsift PROPERTY FOLDER OpenMVG/nonFree)
- install(
-   DIRECTORY .
-   DESTINATION include/openMVG_dependencies/nonFree/sift
-   COMPONENT headers
--  FILES_MATCHING PATTERN "*.hpp" PATTERN "*.h"
-+  FILES_MATCHING PATTERN "*.hpp"
- )
-diff --git a/src/nonFree/sift/SIFT_describer.hpp b/src/nonFree/sift/SIFT_describer.hpp
-index cd800b0..20e9c8e 100644
---- a/src/nonFree/sift/SIFT_describer.hpp
-+++ b/src/nonFree/sift/SIFT_describer.hpp
-@@ -17,9 +17,7 @@
- #include <iostream>
- #include <numeric>
- 
--extern "C" {
--#include "nonFree/sift/vl/sift.h"
--}
-+#include <vl/sift.h>
- 
- namespace openMVG {
- namespace features {
-@@ -174,7 +172,7 @@ public:
-       const int nkeys = vl_sift_get_nkeypoints(filt);
- 
-       // Update gradient before launching parallel extraction
--      vl_sift_update_gradient(filt);
-+      update_gradient(filt);
- 
-       #ifdef OPENMVG_USE_OPENMP
-       #pragma omp parallel for private(descr, descriptor)
-diff --git a/src/openMVG/matching/CMakeLists.txt b/src/openMVG/matching/CMakeLists.txt
-index 2e0eafd7..d54d1e88 100644
---- a/src/openMVG/matching/CMakeLists.txt
-+++ b/src/openMVG/matching/CMakeLists.txt
-@@ -16,6 +16,7 @@ list(REMOVE_ITEM matching_files_cpp ${REMOVEFILESUNITTEST})
- 
- set(THREADS_PREFER_PTHREAD_FLAG ON)
- find_package(Threads REQUIRED)
-+find_package(flann CONFIG REQUIRED)
- 
- set_source_files_properties(${matching_files_cpp} PROPERTIES LANGUAGE CXX)
- add_library(openMVG_matching
-@@ -35,12 +36,12 @@ target_link_libraries(openMVG_matching
-   PUBLIC
-     openMVG_features
-     Threads::Threads
--    cereal
-+    cereal::cereal
- )
--if (NOT DEFINED OpenMVG_USE_INTERNAL_FLANN)
-+if (NOT OpenMVG_USE_INTERNAL_FLANN)
- target_link_libraries(openMVG_matching
-   PUBLIC
--    ${FLANN_LIBRARIES}
-+    $<IF:$<TARGET_EXISTS:flann::flann_s>,flann::flann_s,flann::flann>
- )
- endif()
- set_target_properties(openMVG_matching PROPERTIES SOVERSION ${OPENMVG_VERSION_MAJOR} VERSION "${OPENMVG_VERSION_MAJOR}.${OPENMVG_VERSION_MINOR}")
-diff --git a/src/openMVG/numeric/CMakeLists.txt b/src/openMVG/numeric/CMakeLists.txt
-index 1f3fc30..4097320 100644
---- a/src/openMVG/numeric/CMakeLists.txt
-+++ b/src/openMVG/numeric/CMakeLists.txt
-@@ -26,7 +26,7 @@ target_include_directories(openMVG_numeric
-     $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
-     $<INSTALL_INTERFACE:include>
- )
--if (DEFINED OpenMVG_USE_INTERNAL_EIGEN)
-+if (OpenMVG_USE_INTERNAL_EIGEN)
-   target_include_directories(openMVG_numeric PUBLIC
-     $<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/include/openMVG/third_party/eigen/>)
- else()
-diff --git a/src/openMVG_Samples/describe_and_match_GUI/CMakeLists.txt b/src/openMVG_Samples/describe_and_match_GUI/CMakeLists.txt
-index 862ffc7..62508af 100644
---- a/src/openMVG_Samples/describe_and_match_GUI/CMakeLists.txt
-+++ b/src/openMVG_Samples/describe_and_match_GUI/CMakeLists.txt
-@@ -18,8 +18,7 @@ if (OpenMVG_BUILD_GUI_SOFTWARES)
-       add_executable( openMVG_sample_describe_and_match_GUI WIN32 ${FEATURES_PAIR_DEMO_SRCS} ${FEATURES_PAIR_DEMO_HDRS} )
-     endif( APPLE )
- 
--    target_link_libraries( openMVG_sample_describe_and_match_GUI Qt5::Widgets openMVG_features openMVG_image openMVG_matching vlsift )
--
-+    target_link_libraries( openMVG_sample_describe_and_match_GUI Qt5::Widgets openMVG_features openMVG_image openMVG_matching unofficial::vlfeat::vl )
-     set_target_properties( openMVG_sample_describe_and_match_GUI PROPERTIES CXX_STANDARD 11)
- 
-     set_property(TARGET openMVG_sample_describe_and_match_GUI PROPERTY FOLDER OpenMVG/Samples)
-diff --git a/src/openMVG_Samples/features_image_matching/CMakeLists.txt b/src/openMVG_Samples/features_image_matching/CMakeLists.txt
-index 18fb385..d44ffce 100644
---- a/src/openMVG_Samples/features_image_matching/CMakeLists.txt
-+++ b/src/openMVG_Samples/features_image_matching/CMakeLists.txt
-@@ -5,7 +5,7 @@ target_link_libraries(openMVG_sample_image_matching
-   openMVG_features
-   openMVG_matching
-   ${STLPLUS_LIBRARY}
--  vlsift)
-+  unofficial::vlfeat::vl)
- target_compile_definitions(openMVG_sample_image_matching
-   PRIVATE -DTHIS_SOURCE_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
- 
-diff --git a/src/openMVG_Samples/features_repeatability/CMakeLists.txt b/src/openMVG_Samples/features_repeatability/CMakeLists.txt
-index fd2b7c6..91f2766 100644
---- a/src/openMVG_Samples/features_repeatability/CMakeLists.txt
-+++ b/src/openMVG_Samples/features_repeatability/CMakeLists.txt
-@@ -6,7 +6,7 @@ target_link_libraries(openMVG_sample_main_features_repeatability_dataset
-   openMVG_matching
-   openMVG_system
-   openMVG_multiview
--  vlsift
-+  unofficial::vlfeat::vl
-   ${STLPLUS_LIBRARY})
- 
- set_property(TARGET openMVG_sample_main_features_repeatability_dataset PROPERTY FOLDER OpenMVG/Samples)
-diff --git a/src/software/Localization/CMakeLists.txt b/src/software/Localization/CMakeLists.txt
-index 2f60393..0d57d0a 100644
---- a/src/software/Localization/CMakeLists.txt
-+++ b/src/software/Localization/CMakeLists.txt
-@@ -11,7 +11,7 @@ target_link_libraries(openMVG_main_SfM_Localization
-   openMVG_sfm
-   openMVG_exif
-   ${STLPLUS_LIBRARY}
--  vlsift
-+  unofficial::vlfeat::vl
-   )
- 
- # Installation rules
-diff --git a/src/software/SfM/CMakeLists.txt b/src/software/SfM/CMakeLists.txt
-index 6db7e83..51e06f5 100644
---- a/src/software/SfM/CMakeLists.txt
-+++ b/src/software/SfM/CMakeLists.txt
-@@ -44,7 +44,7 @@ target_link_libraries(openMVG_main_ComputeFeatures
-     openMVG_multiview
-     openMVG_sfm
-     ${STLPLUS_LIBRARY}
--    vlsift
-+    unofficial::vlfeat::vl
- )
- if (MSVC)
-   set_target_properties(openMVG_main_ComputeFeatures PROPERTIES COMPILE_FLAGS "/bigobj")
-@@ -275,7 +275,7 @@ if(OpenMVG_USE_OPENCV)
-     openMVG_multiview
-     openMVG_sfm
-     ${STLPLUS_LIBRARY}
--    vlsift
-+    unofficial::vlfeat::vl
-     ${OpenCV_LIBS})
-   target_include_directories(openMVG_main_ComputeFeatures_OpenCV PRIVATE ${OpenCV_INCLUDE_DIRS})
- 
-diff --git a/src/software/VO/Tracker_opencv_klt.hpp b/src/software/VO/Tracker_opencv_klt.hpp
-index aa7dffe..2c4d237 100644
---- a/src/software/VO/Tracker_opencv_klt.hpp
-+++ b/src/software/VO/Tracker_opencv_klt.hpp
-@@ -80,7 +80,7 @@ struct Tracker_opencv_KLT : public Abstract_Tracker
-     std::vector<cv::KeyPoint> m_nextKeypoints;
- 
-     cv::Ptr<cv::FeatureDetector> m_detector = cv::GFTTDetector::create(count);
--    if (m_detector == NULL)
-+    if (m_detector == nullptr)
-       return false;
- 
-     m_detector->detect(current_img, m_nextKeypoints);
-diff --git a/src/third_party/CMakeLists.txt b/src/third_party/CMakeLists.txt
-index 0d61c9f..05c8b29 100644
---- a/src/third_party/CMakeLists.txt
-+++ b/src/third_party/CMakeLists.txt
-@@ -18,7 +18,7 @@ add_subdirectory(stlplus3)
- set(STLPLUS_LIBRARY openMVG_stlplus PARENT_SCOPE)
- 
- # Add graph library
--if(DEFINED OpenMVG_USE_INTERNAL_LEMON)
-+if(OpenMVG_USE_INTERNAL_LEMON)
-   add_subdirectory(lemon)
-   set(LEMON_LIBRARY openMVG_lemon PARENT_SCOPE)
- endif()
-@@ -67,7 +67,7 @@ endif (NOT TIFF_FOUND)
- add_subdirectory(vectorGraphics)
- 
- # Add ceres-solver (A Nonlinear Least Squares Minimizer)
--if (DEFINED OpenMVG_USE_INTERNAL_CERES)
-+if (OpenMVG_USE_INTERNAL_CERES)
-   add_subdirectory(cxsparse)
-   add_subdirectory(ceres-solver)
-   set_property(TARGET openMVG_cxsparse PROPERTY FOLDER OpenMVG/3rdParty/ceres)
-@@ -75,7 +75,7 @@ if (DEFINED OpenMVG_USE_INTERNAL_CERES)
- endif()
- 
- # Add an Approximate Nearest Neighbor library
--if (DEFINED OpenMVG_USE_INTERNAL_FLANN)
-+if (OpenMVG_USE_INTERNAL_FLANN)
-   set(FLANN_INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/include/openMVG/third_party/flann/src/cpp)
-   add_subdirectory(flann)
- endif()
-@@ -89,7 +89,7 @@ add_subdirectory(fast)
- ##
- # Install Header only libraries if necessary
- ##
--if (DEFINED OpenMVG_USE_INTERNAL_EIGEN)
-+if (OpenMVG_USE_INTERNAL_EIGEN)
-   #Configure Eigen install
-   set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/include/openMVG/third_party/eigen)
-   add_subdirectory(eigen)
-diff --git a/src/openMVG/cameras/CMakeLists.txt b/src/openMVG/cameras/CMakeLists.txt
-index 333ab729..50c8f572 100644
---- a/src/openMVG/cameras/CMakeLists.txt
-+++ b/src/openMVG/cameras/CMakeLists.txt
-@@ -4,7 +4,7 @@ set_property(TARGET openMVG_camera APPEND PROPERTY
-   INTERFACE_INCLUDE_DIRECTORIES "$<INSTALL_INTERFACE:include>")
- 
- target_compile_features(openMVG_camera INTERFACE ${CXX11_FEATURES})
--target_link_libraries(openMVG_camera INTERFACE openMVG_numeric cereal ${OPENMVG_LIBRARY_DEPENDENCIES})
-+target_link_libraries(openMVG_camera INTERFACE openMVG_numeric cereal::cereal ${OPENMVG_LIBRARY_DEPENDENCIES})
- install(TARGETS openMVG_camera DESTINATION lib EXPORT openMVG-targets)
- 
- UNIT_TEST(openMVG Camera_Pinhole openMVG_camera)
-diff --git a/src/openMVG/features/CMakeLists.txt b/src/openMVG/features/CMakeLists.txt
-index 2e49701d..0b5e1c3d 100644
---- a/src/openMVG/features/CMakeLists.txt
-+++ b/src/openMVG/features/CMakeLists.txt
-@@ -31,7 +31,7 @@ target_include_directories(openMVG_features
- )
- target_link_libraries(openMVG_features
-   PRIVATE openMVG_fast ${STLPLUS_LIBRARY}
--  PUBLIC ${OPENMVG_LIBRARY_DEPENDENCIES} cereal)
-+  PUBLIC ${OPENMVG_LIBRARY_DEPENDENCIES} cereal::cereal)
- if (MSVC)
-   set_target_properties(openMVG_features PROPERTIES COMPILE_FLAGS "/bigobj")
-   target_compile_options(openMVG_features PUBLIC "-D_USE_MATH_DEFINES")
-diff --git a/src/openMVG/geometry/CMakeLists.txt b/src/openMVG/geometry/CMakeLists.txt
-index 0a6a016a..e509a4d5 100644
---- a/src/openMVG/geometry/CMakeLists.txt
-+++ b/src/openMVG/geometry/CMakeLists.txt
-@@ -21,7 +21,7 @@ set_property(TARGET openMVG_geometry PROPERTY FOLDER OpenMVG/OpenMVG)
- target_link_libraries(openMVG_geometry
-   PUBLIC
-     openMVG_numeric
--    cereal
-+    cereal::cereal
-   PRIVATE
-     openMVG_linearProgramming
- )
-diff --git a/src/openMVG/sfm/CMakeLists.txt b/src/openMVG/sfm/CMakeLists.txt
-index b8928083..1d10f939 100644
---- a/src/openMVG/sfm/CMakeLists.txt
-+++ b/src/openMVG/sfm/CMakeLists.txt
-@@ -25,7 +25,7 @@ target_link_libraries(openMVG_sfm
-     openMVG_graph
-     openMVG_matching
-     openMVG_multiview
--    cereal
-+    cereal::cereal
-     ${OPENMVG_LIBRARY_DEPENDENCIES}
- )
- 
 diff --git a/src/cmakeFindModules/FindClp.cmake b/src/cmakeFindModules/FindClp.cmake
-index 8a69c2344..1ed9a21fe 100644
+index 8a69c234..1ed9a21f 100644
 --- a/src/cmakeFindModules/FindClp.cmake
 +++ b/src/cmakeFindModules/FindClp.cmake
 @@ -51,7 +51,7 @@ IF(EXISTS "${CLP_DIR}" AND NOT "${CLP_DIR}" STREQUAL "")
@@ -639,18 +276,130 @@ index 8a69c2344..1ed9a21fe 100644
          FIND_LIBRARY(OSICLP_LIBRARY NAMES OsiClp)
  
          # locate Clp libraries
-
+diff --git a/src/cmakeFindModules/FindCoinUtils.cmake b/src/cmakeFindModules/FindCoinUtils.cmake
-diff --git a/src/openMVG/matching/metric_simd.hpp b/src/openMVG/matching/metric_simd.hpp
+index 5b64ce14..595fb7dc 100644
-index 7e09f6ed..916c84e0 100644
+--- a/src/cmakeFindModules/FindCoinUtils.cmake
---- a/src/openMVG/matching/metric_simd.hpp
++++ b/src/cmakeFindModules/FindCoinUtils.cmake
-+++ b/src/openMVG/matching/metric_simd.hpp
+@@ -57,6 +57,12 @@ IF(EXISTS "${COINUTILS_DIR}" AND NOT "${COINUTILS_DIR}" STREQUAL "")
-@@ -17,7 +17,9 @@
+           SET(COINUTILS_LIBRARIES ${COINUTILS_LIBRARY})
- #include <numeric>
+         ENDIF()
-
+ 
- #include <cstdint>
++        if(NOT WIN32)
-+#if defined(__amd64__) || defined(__i386__)
++            find_package(PkgConfig)
- #include <immintrin.h>
++            pkg_check_modules(CoinUtils coinutils IMPORTED_TARGET)
-+#endif
++            list(APPEND COINUTILS_LIBRARIES PkgConfig::CoinUtils)
-
++        endif()
- namespace openMVG {
++
- namespace matching {
+         MESSAGE(STATUS "CoinUtils ${COINUTILS_VERSION} found (include: ${COINUTILS_INCLUDE_DIRS})")
+ ELSE()
+   MESSAGE(STATUS "You are attempting to build without CoinUtils. "
+diff --git a/src/cmakeFindModules/OpenMVGConfig.cmake.in b/src/cmakeFindModules/OpenMVGConfig.cmake.in
+index 5a788b56..ba3b4b3c 100644
+--- a/src/cmakeFindModules/OpenMVGConfig.cmake.in
++++ b/src/cmakeFindModules/OpenMVGConfig.cmake.in
+@@ -51,6 +51,18 @@ set(OPENMVG_VERSION @OPENMVG_VERSION@)
+ get_filename_component(CURRENT_CONFIG_INSTALL_DIR
+   "${CMAKE_CURRENT_LIST_FILE}" PATH)
+ 
++include(CMakeFindDependencyMacro)
++
++find_dependency(flann)
++find_dependency(Threads)
++find_dependency(cereal)
++find_dependency(Ceres)
++find_dependency(vlfeat)
++if(NOT WIN32)
++    find_dependency(PkgConfig)
++    pkg_check_modules(CoinUtils coinutils IMPORTED_TARGET)
++endif()
++
+ # Record the state of the CMake module path when this script was
+ # called so that we can ensure that we leave it in the same state on
+ # exit as it was on entry, but modify it locally.
+@@ -61,7 +73,7 @@ set(CMAKE_MODULE_PATH ${CURRENT_CONFIG_INSTALL_DIR})
+ 
+ # Build the absolute root install directory as a relative path
+ get_filename_component(CURRENT_ROOT_INSTALL_DIR
+-  ${CMAKE_MODULE_PATH}/../../../ ABSOLUTE)
++  ${CMAKE_MODULE_PATH}/../../ ABSOLUTE)
+ if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
+   OPENMVG_REPORT_NOT_FOUND(
+     "OpenMVG install root: ${CURRENT_ROOT_INSTALL_DIR}, "
+diff --git a/src/openMVG/linearProgramming/CMakeLists.txt b/src/openMVG/linearProgramming/CMakeLists.txt
+index 4532161d..e3ddedc6 100644
+--- a/src/openMVG/linearProgramming/CMakeLists.txt
++++ b/src/openMVG/linearProgramming/CMakeLists.txt
+@@ -16,8 +16,8 @@ target_link_libraries(openMVG_linearProgramming
+     openMVG_numeric
+   PRIVATE
+     ${CLP_LIBRARIES}     # clp + solver wrapper
+-    ${COINUTILS_LIBRARY} # container tools
+-    ${OSI_LIBRARY}       # generic LP
++    ${COINUTILS_LIBRARIES} # container tools
++    ${OSI_LIBRARIES}       # generic LP
+ )
+ 
+ target_include_directories(openMVG_linearProgramming
+diff --git a/src/openMVG/matching/CMakeLists.txt b/src/openMVG/matching/CMakeLists.txt
+index b92a49b7..6fa26493 100644
+--- a/src/openMVG/matching/CMakeLists.txt
++++ b/src/openMVG/matching/CMakeLists.txt
+@@ -16,6 +16,7 @@ list(REMOVE_ITEM matching_files_cpp ${REMOVEFILESUNITTEST})
+ 
+ set(THREADS_PREFER_PTHREAD_FLAG ON)
+ find_package(Threads REQUIRED)
++find_package(flann CONFIG REQUIRED)
+ 
+ set_source_files_properties(${matching_files_cpp} PROPERTIES LANGUAGE CXX)
+ add_library(openMVG_matching
+@@ -37,10 +38,10 @@ target_link_libraries(openMVG_matching
+     Threads::Threads
+     ${cereal_TARGET}
+ )
+-if (NOT DEFINED OpenMVG_USE_INTERNAL_FLANN)
++if (NOT OpenMVG_USE_INTERNAL_FLANN)
+ target_link_libraries(openMVG_matching
+   PUBLIC
+-    ${FLANN_LIBRARIES}
++    $<IF:$<TARGET_EXISTS:flann::flann_s>,flann::flann_s,flann::flann>
+ )
+ endif()
+ set_target_properties(openMVG_matching PROPERTIES SOVERSION ${OPENMVG_VERSION_MAJOR} VERSION "${OPENMVG_VERSION_MAJOR}.${OPENMVG_VERSION_MINOR}")
+diff --git a/src/third_party/CMakeLists.txt b/src/third_party/CMakeLists.txt
+index 1e025dc6..4a06dfcc 100644
+--- a/src/third_party/CMakeLists.txt
++++ b/src/third_party/CMakeLists.txt
+@@ -18,7 +18,7 @@ add_subdirectory(stlplus3)
+ set(STLPLUS_LIBRARY openMVG_stlplus PARENT_SCOPE)
+ 
+ # Add graph library
+-if(DEFINED OpenMVG_USE_INTERNAL_LEMON)
++if(0)
+   add_subdirectory(lemon)
+   set(LEMON_LIBRARY openMVG_lemon PARENT_SCOPE)
+ endif()
+@@ -64,13 +64,13 @@ endif (NOT TIFF_FOUND)
+ ##
+ 
+ # Add ceres-solver (A Nonlinear Least Squares Minimizer)
+-if (DEFINED OpenMVG_USE_INTERNAL_CERES)
++if (0)
+   add_subdirectory(ceres-solver)
+   set_property(TARGET openMVG_ceres PROPERTY FOLDER OpenMVG/3rdParty/ceres)
+ endif()
+ 
+ # Add an Approximate Nearest Neighbor library
+-if (DEFINED OpenMVG_USE_INTERNAL_FLANN)
++if (0)
+   set(FLANN_INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/include/openMVG/third_party/flann/src/cpp)
+   add_subdirectory(flann)
+ endif()
+@@ -84,7 +84,7 @@ add_subdirectory(fast)
+ ##
+ # Install Header only libraries if necessary
+ ##
+-if (DEFINED OpenMVG_USE_INTERNAL_EIGEN)
++if (0)
+   #Configure Eigen install
+   set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/include/openMVG/third_party/eigen)
+   add_subdirectory(eigen)

ports/openmvg/fix-coinutils.patch

@@ -1,47 +0,0 @@
-diff --git a/src/openMVG/linearProgramming/CMakeLists.txt b/src/openMVG/linearProgramming/CMakeLists.txt
-index cc5212fda..0fb59c44c 100644
---- a/src/openMVG/linearProgramming/CMakeLists.txt
-+++ b/src/openMVG/linearProgramming/CMakeLists.txt
-@@ -16,8 +16,8 @@ target_link_libraries(openMVG_linearProgramming
-     openMVG_numeric
-   PRIVATE
-     ${CLP_LIBRARIES}     # clp + solver wrapper
--    ${COINUTILS_LIBRARY} # container tools
--    ${OSI_LIBRARY}       # generic LP
-+    ${COINUTILS_LIBRARIES} # container tools
-+    ${OSI_LIBRARIES}       # generic LP
- )
- 
- target_include_directories(openMVG_linearProgramming
-diff --git a/src/cmakeFindModules/FindCoinUtils.cmake b/src/cmakeFindModules/FindCoinUtils.cmake
-index 5b64ce14c..595fb7dc8 100644
---- a/src/cmakeFindModules/FindCoinUtils.cmake
-+++ b/src/cmakeFindModules/FindCoinUtils.cmake
-@@ -57,6 +57,12 @@ IF(EXISTS "${COINUTILS_DIR}" AND NOT "${COINUTILS_DIR}" STREQUAL "")
-           SET(COINUTILS_LIBRARIES ${COINUTILS_LIBRARY})
-         ENDIF()
- 
-+        if(NOT WIN32)
-+            find_package(PkgConfig)
-+            pkg_check_modules(CoinUtils coinutils IMPORTED_TARGET)
-+            list(APPEND COINUTILS_LIBRARIES PkgConfig::CoinUtils)
-+        endif()
-+
-         MESSAGE(STATUS "CoinUtils ${COINUTILS_VERSION} found (include: ${COINUTILS_INCLUDE_DIRS})")
- ELSE()
-   MESSAGE(STATUS "You are attempting to build without CoinUtils. "
-diff --git a/src/cmakeFindModules/OpenMVGConfig.cmake.in b/src/cmakeFindModules/OpenMVGConfig.cmake.in
-index d4ae73d1a..87f71cd7d 100644
---- a/src/cmakeFindModules/OpenMVGConfig.cmake.in
-+++ b/src/cmakeFindModules/OpenMVGConfig.cmake.in
-@@ -65,6 +65,10 @@ find_dependency(Threads)
- find_dependency(cereal)
- find_dependency(Ceres)
- find_dependency(vlfeat)
-+if(NOT WIN32)
-+    find_dependency(PkgConfig)
-+    pkg_check_modules(CoinUtils coinutils IMPORTED_TARGET)
-+endif()
- 
- # Build the absolute root install directory as a relative path
- get_filename_component(CURRENT_ROOT_INSTALL_DIR

ports/openmvg/portfile.cmake

@@ -10,14 +10,12 @@ endif()
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO openMVG/openMVG
-    REF d0fe73dd426ae4001631a51272cff71047522df9  # v2.0
+    REF 01193a245ee3c36458e650b1cf4402caad8983ef  # v2.1
-    SHA512 1d5c68971ad63ced46d8b9070bdacc1065b4ba950fe919e11f952a004def87d4d83a474d48aee714c21b12106d7d81187d3670d8a2e6daf2d3c5fceb008a5de3
+    SHA512 ee98ca26426e7129917c920cd59817cb5d4faf1f5aa12f4085f9ac431875e9ec23ffee7792d65286bad4b922c474c56d5c2f2008b38fddf1ede096644f13ad47
     PATCHES
         build_fixes.patch
         0001-eigen_3.4.0.patch
-        0002-eigen-3.4.patch
         no-absolute-paths.patch
-        fix-coinutils.patch
 )
 
 set(OpenMVG_USE_OPENMP OFF)
@@ -77,17 +75,22 @@ vcpkg_cmake_configure(
 )
 
 vcpkg_cmake_install()
-vcpkg_cmake_config_fixup(CONFIG_PATH share/openMVG/cmake)
 
-if (NOT VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "debug")
+file(MAKE_DIRECTORY "${CURRENT_PACKAGES_DIR}/share/openMVG/")
-    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include" "${CURRENT_PACKAGES_DIR}/debug/share")
+file(RENAME "${CURRENT_PACKAGES_DIR}/lib/openMVG/cmake" "${CURRENT_PACKAGES_DIR}/share/openMVG/cmake")
-    file(REMOVE "${CURRENT_PACKAGES_DIR}/debug/lib/openMVG-targets.cmake" "${CURRENT_PACKAGES_DIR}/debug/lib/openMVG-targets-debug.cmake")
+file(MAKE_DIRECTORY "${CURRENT_PACKAGES_DIR}/debug/share/openMVG/")
-endif()
+file(RENAME "${CURRENT_PACKAGES_DIR}/debug/lib/openMVG/cmake" "${CURRENT_PACKAGES_DIR}/debug/share/openMVG/cmake")
-file(REMOVE "${CURRENT_PACKAGES_DIR}/lib/openMVG-targets.cmake" "${CURRENT_PACKAGES_DIR}/lib/openMVG-targets-release.cmake")
 
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/include/openMVG/image/image_test"
+vcpkg_cmake_config_fixup()
-                    "${CURRENT_PACKAGES_DIR}/include/openMVG/exif/image_data"
+
-                    "${CURRENT_PACKAGES_DIR}/include/openMVG_dependencies/nonFree/sift/vl")
+file(REMOVE_RECURSE
+     "${CURRENT_PACKAGES_DIR}/debug/include"
+     "${CURRENT_PACKAGES_DIR}/include/openMVG_dependencies/cereal" 
+     "${CURRENT_PACKAGES_DIR}/include/openMVG_dependencies/glfw"
+     "${CURRENT_PACKAGES_DIR}/include/openMVG_dependencies/osi_clp"
+     "${CURRENT_PACKAGES_DIR}/include/openMVG/image/image_test"
+     "${CURRENT_PACKAGES_DIR}/include/openMVG/exif/image_data"
+     "${CURRENT_PACKAGES_DIR}/include/openMVG_dependencies/nonFree/sift/vl")
 
 if(OpenMVG_BUILD_SHARED)
     if (NOT VCPKG_BUILD_TYPE OR VCPKG_BUILD_TYPE STREQUAL "release")
@@ -129,6 +132,7 @@ if("software" IN_LIST FEATURES)
         openMVG_main_ComputeMatches
         openMVG_main_ComputeSfM_DataColor
         openMVG_main_ComputeStructureFromKnownPoses
+        openMVG_main_ComputeVLAD
         openMVG_main_ConvertList
         openMVG_main_ConvertSfM_DataFormat
         openMVG_main_evalQuality

ports/openmvg/vcpkg.json

@@ -1,7 +1,6 @@
 {
   "name": "openmvg",
-  "version": "2.0",
+  "version": "2.1",
-  "port-version": 11,
   "description": "open Multiple View Geometry library. Basis for 3D computer vision and Structure from Motion.",
   "license": "MPL-2.0-no-copyleft-exception",
   "supports": "(x86 | x64 | arm64) & !xbox",
@@ -10,7 +9,6 @@
     {
       "name": "ceres",
       "features": [
-        "cxsparse",
         "suitesparse"
       ]
     },

ports/openturns/fix-dep.patch

@@ -1,9 +1,9 @@
 diff --git a/lib/OpenTURNSConfig.cmake.in b/lib/OpenTURNSConfig.cmake.in
-index 1247591893..c12e423892 100644
+index 74f17eafd..e08d121dc 100644
 --- a/lib/OpenTURNSConfig.cmake.in
 +++ b/lib/OpenTURNSConfig.cmake.in
-@@ -74,6 +74,17 @@ if ("1" STREQUAL "@HMAT_FOUND@")
+@@ -107,6 +107,18 @@ if (NOT @BUILD_SHARED_LIBS@)
-   find_package (HMAT REQUIRED NO_MODULE PATHS ${HMAT_DIR} NO_DEFAULT_PATH)
+   endif ()
  endif ()
  
 +include(CMakeFindDependencyMacro)
@@ -16,8 +16,8 @@ index 1247591893..c12e423892 100644
 +find_dependency(Ceres CONFIG)
 +find_dependency(Pagmo CONFIG)
 +find_dependency(CMinpack CONFIG)
++find_dependency(nanoflann CONFIG)
 +
  # Our library dependencies (contains definitions for IMPORTED targets)
  include("${CMAKE_CURRENT_LIST_DIR}/OpenTURNS-Targets.cmake")
  
-

ports/openturns/link-gmp.patch

@@ -1,15 +1,42 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e13414978..77ecf3e9e 100644
+index 81f0f30d1..db08c345c 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -303,6 +303,10 @@ if (USE_BOOST)
+@@ -272,15 +272,6 @@ if (USE_BOOST)
-         list (APPEND OPENTURNS_PRIVATE_LIBRARIES ${MPC_LIBRARIES})
+       set (Boost_VERSION "${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION}")
+     endif ()
+     set (OPENTURNS_HAVE_BOOST TRUE)
+-    if (USE_MPFR)
+-      find_package (MPFR)
+-      if (MPFR_FOUND)
+-        set (OPENTURNS_HAVE_MPFR TRUE)
+-        list (APPEND OPENTURNS_PRIVATE_INCLUDE_DIRS ${MPFR_INCLUDE_DIRS})
+-        list (APPEND OPENTURNS_PRIVATE_LIBRARIES ${MPFR_LIBRARIES})
+-        list (APPEND OPENTURNS_ENABLED_FEATURES "mpfr")
+-      endif ()
+-    endif ()
+     if (USE_MPC AND NOT Boost_VERSION VERSION_LESS 1.68)
+       find_package (MPC)
+       if (MPC_FOUND)
+@@ -290,8 +281,19 @@ if (USE_BOOST)
+         list (APPEND OPENTURNS_ENABLED_FEATURES "mpc")
        endif ()
      endif ()
+-    list (APPEND OPENTURNS_PRIVATE_LIBRARIES Boost::boost)
+-    list (APPEND OPENTURNS_ENABLED_FEATURES "boost")
++    if (USE_MPFR)
++      find_package (MPFR)
++      if (MPFR_FOUND)
++        set (OPENTURNS_HAVE_MPFR TRUE)
++        list (APPEND OPENTURNS_PRIVATE_INCLUDE_DIRS ${MPFR_INCLUDE_DIRS})
++        list (APPEND OPENTURNS_PRIVATE_LIBRARIES ${MPFR_LIBRARIES})
++        list (APPEND OPENTURNS_ENABLED_FEATURES "mpfr")
++      endif ()
++    endif ()
 +    if((USE_MPC OR USE_MPFR) AND NOT BUILD_SHARED_LIBS)
 +        find_library(GMP_LIBRARY NAMES gmp)
 +        list (APPEND OPENTURNS_PRIVATE_LIBRARIES ${GMP_LIBRARY})
 +    endif()
-     list (APPEND OPENTURNS_PRIVATE_INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
    endif ()
  endif ()
+ 

ports/openturns/portfile.cmake

@@ -1,12 +1,11 @@
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO openturns/openturns
-    REF ad8482ece23d98802edc6258683e8353f9ff8b08
+    REF b62fb487266949ffdad036712cec604cf70d6e34
-    SHA512 b0bc88bcf54945b5e786b480e640ee182926c75f1d871f70690d9609c98745b1907b3d9184c07586591fa45238c837da5a893a00d9c576a9e10232bcc9adc593
+    SHA512 de14a872bb2c3cd871d7f98e6a0d62f9f3c23386200f0c63d11fec0877d69639e45f004f3f18217bad68fc52d02d285ac3f5d70dcc89a8c23edaea9fe365b527
     HEAD_REF master
     PATCHES
       link-gmp.patch
-      reorder-mpc.patch
       fix-dep.patch
 )
 
@@ -25,6 +24,7 @@ vcpkg_cmake_configure(
       -DUSE_BOOST:BOOL=ON # Required to make the distributions cross platform
       -DUSE_DOXYGEN:BOOL=OFF
       -DUSE_OPENMP:BOOL=OFF
+      -DUSE_CUBA:BOOL=OFF
       -DCMAKE_REQUIRE_FIND_PACKAGE_Spectra:BOOL=ON
       -DCMAKE_REQUIRE_FIND_PACKAGE_Eigen3:BOOL=ON
       -DCMAKE_DISABLE_FIND_PACKAGE_primesieve:BOOL=ON
@@ -32,7 +32,6 @@ vcpkg_cmake_configure(
       -DCMAKE_REQUIRE_FIND_PACKAGE_FLEX:BOOL=ON
       -DCMAKE_REQUIRE_FIND_PACKAGE_TBB:BOOL=ON
       -DCMAKE_REQUIRE_FIND_PACKAGE_muParser:BOOL=ON
-      -DCMAKE_DISABLE_FIND_PACKAGE_HMAT:BOOL=ON
       -DCMAKE_REQUIRE_FIND_PACKAGE_LibXml2:BOOL=ON
       -DCMAKE_REQUIRE_FIND_PACKAGE_HDF5:BOOL=ON
       -DCMAKE_REQUIRE_FIND_PACKAGE_MPFR:BOOL=ON
@@ -49,8 +48,8 @@ vcpkg_cmake_configure(
 vcpkg_cmake_install()
 
 vcpkg_cmake_config_fixup(CONFIG_PATH "lib/cmake/${PORT}")
-vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/share/${PORT}/OpenTURNSConfig.cmake" "/lib/cmake/" "/share/")
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/share/${PORT}/OpenTURNSConfig.cmake" "/lib/cmake/" "/share/" IGNORE_UNCHANGED)
-vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/share/${PORT}/OpenTURNSConfig.cmake" "/lib" "$<$<CONFIG:DEBUG>:/debug>/lib")
+vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/share/${PORT}/OpenTURNSConfig.cmake" "/lib" "$<$<CONFIG:DEBUG>:/debug>/lib" IGNORE_UNCHANGED)
 
 if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
   vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/openturns/OTdebug.h" "#ifndef OT_STATIC" "#if 0")

ports/openturns/reorder-mpc.patch

@@ -1,34 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 77ecf3e9e..b78ebcbec 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -287,14 +287,6 @@ if (USE_BOOST)
-       set (Boost_VERSION "${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION}")
-     endif ()
-     set (OPENTURNS_HAVE_BOOST TRUE)
--    if (USE_MPFR)
--      find_package (MPFR)
--      if (MPFR_FOUND)
--        set (OPENTURNS_HAVE_MPFR TRUE)
--        list (APPEND OPENTURNS_PRIVATE_INCLUDE_DIRS ${MPFR_INCLUDE_DIRS})
--        list (APPEND OPENTURNS_PRIVATE_LIBRARIES ${MPFR_LIBRARIES})
--      endif ()
--    endif ()
-     if (USE_MPC AND NOT Boost_VERSION VERSION_LESS 1.68)
-       find_package (MPC)
-       if (MPC_FOUND)
-@@ -303,6 +295,14 @@ if (USE_BOOST)
-         list (APPEND OPENTURNS_PRIVATE_LIBRARIES ${MPC_LIBRARIES})
-       endif ()
-     endif ()
-+    if (USE_MPFR)
-+      find_package (MPFR)
-+      if (MPFR_FOUND)
-+        set (OPENTURNS_HAVE_MPFR TRUE)
-+        list (APPEND OPENTURNS_PRIVATE_INCLUDE_DIRS ${MPFR_INCLUDE_DIRS})
-+        list (APPEND OPENTURNS_PRIVATE_LIBRARIES ${MPFR_LIBRARIES})
-+      endif ()
-+    endif ()
-     if((USE_MPC OR USE_MPFR) AND NOT BUILD_SHARED_LIBS)
-         find_library(GMP_LIBRARY NAMES gmp)
-         list (APPEND OPENTURNS_PRIVATE_LIBRARIES ${GMP_LIBRARY})

ports/openturns/vcpkg.json

@@ -1,12 +1,13 @@
 {
   "name": "openturns",
-  "version": "1.20",
+  "version": "1.24",
-  "port-version": 2,
   "description": "OpenTURNS is a scientific C++ and Python library featuring an internal data model and algorithms dedicated to the treatment of uncertainties.",
   "homepage": "http://www.openturns.org",
   "license": null,
   "dependencies": [
     "blas",
+    "boost-geometry",
+    "boost-math",
     "boost-multiprecision",
     "boost-random",
     "ceres",
@@ -25,6 +26,7 @@
     "mpc",
     "mpfr",
     "muparser",
+    "nanoflann",
     "nlopt",
     "pagmo2",
     "pthread",

ports/rtabmap/ceres-manifold.patch

@@ -0,0 +1,114 @@
+diff --git a/corelib/src/optimizer/OptimizerCeres.cpp b/corelib/src/optimizer/OptimizerCeres.cpp
+index 5a62283a..7d216b47 100644
+--- a/corelib/src/optimizer/OptimizerCeres.cpp
++++ b/corelib/src/optimizer/OptimizerCeres.cpp
+@@ -37,7 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ 
+ #ifdef RTABMAP_CERES
+ #include <ceres/ceres.h>
+-#include <ceres/local_parameterization.h>
++#include <ceres/manifold.h>
+ #include "ceres/pose_graph_2d/types.h"
+ #include "ceres/pose_graph_2d/pose_graph_2d_error_term.h"
+ #include "ceres/pose_graph_2d/angle_local_parameterization.h"
+@@ -118,8 +118,8 @@ std::map<int, Transform> OptimizerCeres::optimize(
+ 		}
+ 
+ 		ceres::LossFunction* loss_function = NULL;
+-		ceres::LocalParameterization* angle_local_parameterization = NULL;
+-		ceres::LocalParameterization* quaternion_local_parameterization = NULL;
++		ceres::Manifold* angle_local_parameterization = NULL;
++		ceres::Manifold* quaternion_local_parameterization = NULL;
+ 
+ 		for(std::multimap<int, Link>::const_iterator iter=edgeConstraints.begin(); iter!=edgeConstraints.end(); ++iter)
+ 		{
+@@ -168,8 +168,8 @@ std::map<int, Transform> OptimizerCeres::optimize(
+ 					{
+ 						angle_local_parameterization = ceres::examples::AngleLocalParameterization::Create();
+ 					}
+-					problem.SetParameterization(&pose_begin_iter->second.yaw_radians, angle_local_parameterization);
+-					problem.SetParameterization(&pose_end_iter->second.yaw_radians, angle_local_parameterization);
++					problem.SetManifold(&pose_begin_iter->second.yaw_radians, angle_local_parameterization);
++					problem.SetManifold(&pose_end_iter->second.yaw_radians, angle_local_parameterization);
+ 				}
+ 				else
+ 				{
+@@ -196,10 +196,10 @@ std::map<int, Transform> OptimizerCeres::optimize(
+ 											  pose_end_iter->second.p.data(), pose_end_iter->second.q.coeffs().data());
+ 					if(quaternion_local_parameterization == NULL)
+ 					{
+-						quaternion_local_parameterization = new ceres::EigenQuaternionParameterization;
++						quaternion_local_parameterization = new ceres::EigenQuaternionManifold;
+ 					}
+-					problem.SetParameterization(pose_begin_iter->second.q.coeffs().data(), quaternion_local_parameterization);
+-					problem.SetParameterization(pose_end_iter->second.q.coeffs().data(), quaternion_local_parameterization);
++					problem.SetManifold(pose_begin_iter->second.q.coeffs().data(), quaternion_local_parameterization);
++					problem.SetManifold(pose_end_iter->second.q.coeffs().data(), quaternion_local_parameterization);
+ 				}
+ 			}
+ 			//else // not supporting pose prior and landmarks
+diff --git a/corelib/src/optimizer/ceres/pose_graph_2d/angle_local_parameterization.h b/corelib/src/optimizer/ceres/pose_graph_2d/angle_local_parameterization.h
+index 428ccccd..d5bf1dcd 100644
+--- a/corelib/src/optimizer/ceres/pose_graph_2d/angle_local_parameterization.h
++++ b/corelib/src/optimizer/ceres/pose_graph_2d/angle_local_parameterization.h
+@@ -31,7 +31,8 @@
+ #ifndef CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
+ #define CERES_EXAMPLES_POSE_GRAPH_2D_ANGLE_LOCAL_PARAMETERIZATION_H_
+ 
+-#include "ceres/local_parameterization.h"
++#include "ceres/autodiff_manifold.h"
++#include "ceres/manifold.h"
+ #include "normalize_angle.h"
+ 
+ namespace ceres {
+@@ -41,19 +42,20 @@ namespace examples {
+ // [-pi to pi).
+ class AngleLocalParameterization {
+  public:
+-
+   template <typename T>
+-  bool operator()(const T* theta_radians, const T* delta_theta_radians,
+-                  T* theta_radians_plus_delta) const {
+-    *theta_radians_plus_delta =
+-        NormalizeAngle(*theta_radians + *delta_theta_radians);
++  bool Plus(const T* x, const T* delta, T* x_plus_delta) const {
++    *x_plus_delta = NormalizeAngle(*x + *delta);
++    return true;
++  }
+ 
++  template <typename T>
++  bool Minus(const T* y, const T* x, T* y_minus_x) const {
++    *y_minus_x = NormalizeAngle(*y - *x);
+     return true;
+   }
+ 
+-  static ceres::LocalParameterization* Create() {
+-    return (new ceres::AutoDiffLocalParameterization<AngleLocalParameterization,
+-                                                     1, 1>);
++  static ceres::Manifold* Create() {
++    return (new ceres::AutoDiffManifold<AngleLocalParameterization, 1, 1>);
+   }
+ };
+ 
+diff --git a/corelib/src/optimizer/ceres/pose_graph_3d/eigen_quaternion_parameterization.h b/corelib/src/optimizer/ceres/pose_graph_3d/eigen_quaternion_parameterization.h
+index ae03ebda..ffab3042 100644
+--- a/corelib/src/optimizer/ceres/pose_graph_3d/eigen_quaternion_parameterization.h
++++ b/corelib/src/optimizer/ceres/pose_graph_3d/eigen_quaternion_parameterization.h
+@@ -31,7 +31,7 @@
+ #ifndef CERES_EXAMPLES_POSE_GRAPH_3D_EIGEN_QUATERNION_PARAMETERIZATION_H_
+ #define CERES_EXAMPLES_POSE_GRAPH_3D_EIGEN_QUATERNION_PARAMETERIZATION_H_
+ 
+-#include "ceres/local_parameterization.h"
++#include "ceres/manifold.h"
+ 
+ namespace ceres {
+ 
+@@ -46,7 +46,7 @@ namespace ceres {
+ //
+ // Plus(x, delta) = [sin(|delta|) delta / |delta|, cos(|delta|)] * x
+ // with * being the quaternion multiplication operator.
+-class EigenQuaternionParameterization : public ceres::LocalParameterization {
++class EigenQuaternionParameterization : public ceres::Manifold {
+  public:
+   virtual ~EigenQuaternionParameterization() {}
+   virtual bool Plus(const double* x_ptr,

ports/rtabmap/portfile.cmake

@@ -11,6 +11,7 @@ vcpkg_from_github(
         multi-definition.patch
         rtabmap-res-tool.patch
         gklib.patch
+        ceres-manifold.patch
         fix-find-g2o.patch
 )
 

ports/rtabmap/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "rtabmap",
   "version": "0.21.4.1",
-  "port-version": 3,
+  "port-version": 4,
   "description": "Real-Time Appearance-Based Mapping",
   "homepage": "https://introlab.github.io/rtabmap/",
   "license": null,

ports/theia/266.diff

@@ -1,12 +0,0 @@
-diff --git a/libraries/vlfeat/CMakeLists.txt b/libraries/vlfeat/CMakeLists.txt
-index 7f4ffc796..9535d0c22 100644
---- a/libraries/vlfeat/CMakeLists.txt
-+++ b/libraries/vlfeat/CMakeLists.txt
-@@ -1,6 +1,6 @@
- project(vlfeat)
- 
--include("${CMAKE_MODULE_PATH}/OptimizeTheiaCompilerFlags.cmake")
-+include(OptimizeTheiaCompilerFlags)
- optimizetheiacompilerflags()
- 
- include_directories(./vl)

ports/theia/eigen-3.4.patch

@@ -1,24 +0,0 @@
---- a/libraries/akaze/src/nldiffusion_functions.cpp
-+++ b/libraries/akaze/src/nldiffusion_functions.cpp
-@@ -222,8 +222,8 @@ void halfsample_image(const RowMatrixXf& src, RowMatrixXf& dst) {
- 
-   // Do the whole resampling in one pass by using neighboring values. First, we
-   // compute the borders.
--  const double x_kernel_size = static_cast<double>(src.cols()) / dst.cols();
--  const double y_kernel_size = static_cast<double>(src.rows()) / dst.rows();
-+  const int x_kernel_size = static_cast<double>(src.cols()) / dst.cols();
-+  const int y_kernel_size = static_cast<double>(src.rows()) / dst.rows();
- 
-   // Do simple linear interpolation.
-   if (x_kernel_size == 2 && y_kernel_size == 2) {
-@@ -237,8 +237,8 @@ void halfsample_image(const RowMatrixXf& src, RowMatrixXf& dst) {
-     return;
-   }
- 
--  const double x_kernel_clamped_size = static_cast<int>(ceil(x_kernel_size));
--  const double y_kernel_clamped_size = static_cast<int>(ceil(y_kernel_size));
-+  const int x_kernel_clamped_size = static_cast<int>(ceil(static_cast<double>(src.cols()) / dst.cols()));
-+  const int y_kernel_clamped_size = static_cast<int>(ceil(static_cast<double>(src.rows()) / dst.rows()));
- 
-   // Set up precomputed factor matrices.
-   Eigen::RowVectorXf x_kernel_mul(static_cast<int>(x_kernel_clamped_size)),

ports/theia/fix-external-dependencies.patch

@@ -1,457 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9c1b150..1adbfed 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -105,10 +105,10 @@ add_definitions(-DTHEIA_DATA_DIR="${CMAKE_SOURCE_DIR}/data")
- 
- # Eigen
- set(MIN_EIGEN_VERSION 3.2.0)
--find_package(Eigen ${MIN_EIGEN_VERSION} REQUIRED)
--if (EIGEN_FOUND)
--  message("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}")
--endif (EIGEN_FOUND)
-+find_package(Eigen3 ${MIN_EIGEN_VERSION} REQUIRED)
-+if (EIGEN3_FOUND)
-+  message("-- Found Eigen version ${EIGEN3_VERSION}: ${EIGEN3_INCLUDE_DIRS}")
-+endif (EIGEN3_FOUND)
- 
- # Use a larger inlining threshold for Clang, since it hobbles Eigen,
- # resulting in an unreasonably slow version of the blas routines. The
-@@ -129,70 +129,27 @@ endif ()
- 
- # GFlags. The namespace patch is borrow from Ceres Solver (see license in
- # FindGflags.cmake)
-+message("-- Check for Google Flags")
- find_package(Gflags REQUIRED)
--if (GFLAGS_FOUND)
--  message("-- Found Google Flags: ${GFLAGS_INCLUDE_DIRS} in namespace: ${GFLAGS_NAMESPACE}")
--  add_definitions(-DTHEIA_GFLAGS_NAMESPACE=${GFLAGS_NAMESPACE})
--else (GFLAGS_FOUND)
--  message(FATAL_ERROR "Can't find Google FLAGS.")
--endif (GFLAGS_FOUND)
- 
- # Google Logging
- message("-- Check for Google Log")
- find_package(Glog REQUIRED)
--if (GLOG_FOUND)
--  message("-- Found Google Logging: ${GLOG_INCLUDE_DIRS}")
--else (GLOG_FOUND)
--  message(FATAL_ERROR "Can't find Google Logging. Please set GLOG_INCLUDE_DIR & "
--    "GLOG_LIBRARY")
--endif (GLOG_FOUND)
-+
-+# Flann
-+message("-- Check for Flann")
-+find_package(Flann REQUIRED)
- 
- # Ceres
- message("-- Check for Ceres")
- find_package(Ceres REQUIRED SuiteSparse)
--if (CERES_FOUND)
--  message("-- Found Ceres: ${CERES_INCLUDE_DIRS}")
--else (CERES_FOUND)
--  message(FATAL_ERROR "Can't find Ceres. Please set CERES_INCLUDE_DIR & "
--    "CERES_LIBRARY")
--endif (CERES_FOUND)
- 
- # OpenImageIO
- message("-- Check for OpenImageIO")
- find_package(OpenImageIO REQUIRED)
--if (OPENIMAGEIO_FOUND)
--  message("-- Found OpenImageIO: ${OPENIMAGEIO_INCLUDE_DIRS}")
--else (OPENIMAGEIO_FOUND)
--  message(FATAL_ERROR "Can't find OpenImageIO. Please set OPENIMAGEIO_INCLUDE_DIR & "
--    "OPENIMAGEIO_LIBRARY")
--endif (OPENIMAGEIO_FOUND)
- 
- # 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.
--  if (BUILD_SHARED_LIBS AND
--      SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)
--    message(FATAL_ERROR "You are attempting to build Theia as a shared "
--      "library on Ubuntu using a system package install of SuiteSparse "
--      "3.4.0. This package is broken and does not support the "
--      "construction of shared libraries (you can still build Theia as "
--      "a static library).  If you wish to build a shared version of Theia "
--      "you should uninstall the system install of SuiteSparse "
--      "(libsuitesparse-dev) and perform a source install of SuiteSparse "
--      "(we recommend that you use the latest version), "
--      "see http://theia-solver.org/building.html for more information.")
--  endif (BUILD_SHARED_LIBS AND
--    SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)
--  message("-- Found SuiteSparse ${SUITESPARSE_VERSION}")
--  add_definitions(-DTHEIA_SUITESPARSE_VERSION="${SUITESPARSE_VERSION}")
--else (SUITESPARSE_FOUND)
--  # Disable use of SuiteSparse if it cannot be found and continue.
--  message(FATAL ERROR "Can't find SuiteSparse. This library is required "
--    "for bundle adjustment and for solving convex optimization problems. "
--    "Please set SUITESPARSE_INCLUDE_DIR & SUITESPARSE_LIBRARY")
--endif (SUITESPARSE_FOUND)
- 
- include_directories(
-   include
-@@ -225,24 +182,19 @@ include_directories(
-   libraries/spectra
-   ${akaze_SOURCE_DIR}
-   ${akaze_INCLUDE_DIR}
--  ${cereal_SOURCE_DIR}
--  ${cereal_SOURCE_DIR}/include
--  ${flann_SOURCE_DIR}
--  ${flann_SOURCE_DIR}/src/cpp
--  ${gtest_SOURCE_DIR}/include
--  ${gtest_SOURCE_DIR}
-   ${optimo_SOURCE_DIR}
-   ${statx_SOURCE_DIR}
-   ${stlplus3_SOURCE_DIR}
-   ${vlfeat_SOURCE_DIR}
--  ${visual_sfm_SOURCE_DIR})
-+  ${visual_sfm_SOURCE_DIR}
-+)
- 
- list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
- include(OptimizeTheiaCompilerFlags)
- optimizetheiacompilerflags()
- 
- add_subdirectory(src/theia)
--add_subdirectory(applications)
-+#add_subdirectory(applications)
- 
- if (BUILD_DOCUMENTATION)
-   message("-- Documentation building is enabled")
-@@ -260,7 +212,13 @@ install(FILES ${THEIA_HDRS} DESTINATION include/theia)
- file(GLOB_RECURSE THEIA_INTERNAL_HDRS ${CMAKE_SOURCE_DIR}/src/theia/*.h)
- install(DIRECTORY src/theia/ DESTINATION include/theia FILES_MATCHING PATTERN "*.h")
- 
--install(DIRECTORY libraries/ DESTINATION include/theia/libraries FILES_MATCHING PATTERN "*.h*")
-+install(DIRECTORY libraries/akaze/ DESTINATION include/theia/libraries/akaze FILES_MATCHING PATTERN "*.h*")
-+install(DIRECTORY libraries/optimo/ DESTINATION include/theia/libraries/optimo FILES_MATCHING PATTERN "*.h*")
-+install(DIRECTORY libraries/spectra/ DESTINATION include/theia/libraries/spectra FILES_MATCHING PATTERN "*.h*")
-+install(DIRECTORY libraries/statx/ DESTINATION include/theia/libraries/statx FILES_MATCHING PATTERN "*.h*")
-+install(DIRECTORY libraries/stlplus3/ DESTINATION include/theia/libraries/stlplus3 FILES_MATCHING PATTERN "*.h*")
-+install(DIRECTORY libraries/visual_sfm/ DESTINATION include/theia/libraries/visual_sfm FILES_MATCHING PATTERN "*.h*")
-+install(DIRECTORY libraries/vlfeat/ DESTINATION include/theia/libraries/vlfeat FILES_MATCHING PATTERN "*.h*")
- 
- # Add an uninstall target to remove all installed files.
- configure_file("${CMAKE_SOURCE_DIR}/cmake/uninstall.cmake.in"
-@@ -272,17 +230,10 @@ add_custom_target(uninstall
- 
- # Set up install directories. INCLUDE_INSTALL_DIR, LIB_INSTALL_DIR and
- # CMAKECONFIG_INSTALL_DIR must not be absolute paths.
--if (WIN32)
--  set(INCLUDE_INSTALL_DIR Include)
--  set(LIB_INSTALL_DIR Lib)
--  set(CMAKECONFIG_INSTALL_DIR CMake)
--  set(RELATIVE_CMAKECONFIG_INSTALL_DIR CMake)
--else ()
--  set(INCLUDE_INSTALL_DIR include)
--  set(LIB_INSTALL_DIR lib)
--  set(CMAKECONFIG_INSTALL_DIR share/Theia)
--  set(RELATIVE_CMAKECONFIG_INSTALL_DIR share/Theia)
--endif ()
-+set(INCLUDE_INSTALL_DIR include)
-+set(LIB_INSTALL_DIR lib)
-+set(CMAKECONFIG_INSTALL_DIR share/theia)
-+set(RELATIVE_CMAKECONFIG_INSTALL_DIR share/theia)
- 
- # This "exports" all targets which have been put into the export set
- # "TheiaExport". This means that CMake generates a file with the given
-@@ -319,9 +270,4 @@ configure_file("${CMAKE_SOURCE_DIR}/cmake/TheiaConfigVersion.cmake.in"
- # in the public API of Theia and should thus be present in THEIA_INCLUDE_DIRS.
- install(FILES "${CMAKE_CURRENT_BINARY_DIR}/TheiaConfig.cmake"
-               "${CMAKE_CURRENT_BINARY_DIR}/TheiaConfigVersion.cmake"
--              "${CMAKE_SOURCE_DIR}/cmake/FindEigen.cmake"
--              "${CMAKE_SOURCE_DIR}/cmake/FindGlog.cmake"
--              "${CMAKE_SOURCE_DIR}/cmake/FindGflags.cmake"
--	      "${CMAKE_SOURCE_DIR}/cmake/FindOpenImageIO.cmake"
--              "${CMAKE_SOURCE_DIR}/cmake/FindSuiteSparse.cmake"
-               DESTINATION ${CMAKECONFIG_INSTALL_DIR})
-diff --git a/cmake/TheiaConfig.cmake.in b/cmake/TheiaConfig.cmake.in
-index a3ea187..7e9d912 100644
---- a/cmake/TheiaConfig.cmake.in
-+++ b/cmake/TheiaConfig.cmake.in
-@@ -124,14 +124,7 @@ list(APPEND CERES_INCLUDE_DIR_HINTS @CERES_INCLUDE_DIR@)
- get_filename_component(THEIA_BUILD_CERES_LIBRARY_DIR @CERES_LIBRARIES@ PATH)
- list(APPEND CERES_LIBRARY_DIR_HINTS ${THEIA_BUILD_CERES_LIBRARY_DIR})
- # Search quietly s/t we control the timing of the error message if not found.
--find_package(Ceres QUIET)
--if (CERES_FOUND)
--  message(STATUS "Found required Theia dependency: "
--    "Ceres in ${CERES_INCLUDE_DIRS}")
--else (CERES_FOUND)
--  theia_report_not_found("Missing required Theia "
--    "dependency: Ceres, please set CERES_INCLUDE_DIR.")
--endif (CERES_FOUND)
-+find_package(Ceres REQUIRED)
- list(APPEND THEIA_INCLUDE_DIRS ${CERES_INCLUDE_DIRS})
- 
- # Glog.
-@@ -140,64 +133,19 @@ list(APPEND GLOG_INCLUDE_DIR_HINTS @GLOG_INCLUDE_DIR@)
- get_filename_component(THEIA_BUILD_GLOG_LIBRARY_DIR @GLOG_LIBRARY@ PATH)
- list(APPEND GLOG_LIBRARY_DIR_HINTS ${THEIA_BUILD_GLOG_LIBRARY_DIR})
- # Search quietly s/t we control the timing of the error message if not found.
--find_package(Glog QUIET)
--if (GLOG_FOUND)
--  message(STATUS "Found required Theia dependency: "
--    "Glog in ${GLOG_INCLUDE_DIRS}")
--else (GLOG_FOUND)
--  theia_report_not_found("Missing required Theia "
--    "dependency: Glog, please set GLOG_INCLUDE_DIR.")
--endif (GLOG_FOUND)
-+find_package(Glog REQUIRED)
- list(APPEND THEIA_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS})
- 
- # GFlags. The namespace patch is borrow from Ceres Solver (see license in
- # FindGflags.cmake)
--find_package(Gflags QUIET)
--if (GFLAGS_FOUND)
--  message(STATUS "Found required Theia dependency: Google Flags in "
--    "${GFLAGS_INCLUDE_DIRS} in namespace: ${GFLAGS_NAMESPACE}")
--  add_definitions(-DTHEIA_GFLAGS_NAMESPACE=${GFLAGS_NAMESPACE})
--else (GFLAGS_FOUND)
--  theia_report_not_found("Missing required Theia dependency: Google Flags, please set "
--    "GFLAGS_INCLUDE_DIR.")
--endif (GFLAGS_FOUND)
-+find_package(Gflags REQUIRED)
- list(APPEND THEIA_INCLUDE_DIRS ${GFLAGS_INCLUDE_DIRS})
- 
- # OpenImageIO
--find_package(OpenImageIO QUIET)
--if (OPENIMAGEIO_FOUND)
--  message(STATUS "Found Theia dependency: OpenImageIO in ${OPENIMAGEIO_INCLUDE_DIRS}")
--else (OPENIMAGEIO_FOUND)
--  theia_report_not_found("Missing required Theia dependency: OpenImageIO. Please set "
--    "OPENIMAGEIO_INCLUDE_DIR & OPENIMAGEIO_LIBRARY")
--endif (OPENIMAGEIO_FOUND)
-+find_package(OpenImageIO REQUIRED)
- list(APPEND THEIA_INCLUDE_DIRS ${OPENIMAGEIO_INCLUDE_DIRS})
- 
--find_package(SuiteSparse QUIET)
--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.
--  if (BUILD_SHARED_LIBS AND
--      SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)
--    theia_report_not_found("You are attempting to build Theia as a shared "
--      "library on Ubuntu using a system package install of SuiteSparse "
--      "3.4.0. This package is broken and does not support the "
--      "construction of shared libraries (you can still build Theia as "
--      "a static library).  If you wish to build a shared version of Theia "
--      "you should uninstall the system install of SuiteSparse "
--      "(libsuitesparse-dev) and perform a source install of SuiteSparse "
--      "(we recommend that you use the latest version), "
--      "see http://theia-solver.org/building.html for more information.")
--  endif (BUILD_SHARED_LIBS AND
--    SUITESPARSE_IS_BROKEN_SHARED_LINKING_UBUNTU_SYSTEM_VERSION)
--  message("-- Found SuiteSparse ${SUITESPARSE_VERSION}")
--  add_definitions(-DTHEIA_SUITESPARSE_VERSION="${SUITESPARSE_VERSION}")
--else (SUITESPARSE_FOUND)
--  # Disable use of SuiteSparse if it cannot be found and continue.
--  theia_report_not_found("Can't find SuiteSparse. This library is required "
--    "for bundle adjustment and for solving convex optimization problems. "
--    "Please set SUITESPARSE_INCLUDE_DIR & SUITESPARSE_LIBRARY")
--endif (SUITESPARSE_FOUND)
-+find_package(SuiteSparse REQUIRED)
- list(APPEND THEIA_INCLUDE_DIRS ${SUITESPARSE_INCLUDE_DIRS})
- 
- # Import exported Theia targets.
-@@ -207,22 +155,24 @@ endif (NOT TARGET theia AND NOT Theia_BINARY_DIR)
- # Set the expected XX_LIBRARIES variable for FindPackage().
- set(THEIA_LIBRARIES theia)
- 
-+find_package(cereal REQUIRED)
-+list(APPEND THEIA_LIBRARIES cereal)
-+
-+find_package(Flann REQUIRED)
-+list(APPEND THEIA_INCLUDE_DIRS ${FLANN_INCLUDE_DIR})
-+list(APPEND THEIA_LIBRARIES ${FLANN_LIBRARY})
-+
- # Add the libraries included with the distribution.
- set(THEIA_INTERNAL_LIB_PREFIX ${THEIA_INCLUDE_DIR}/theia/libraries)
- set(THEIA_INTERNAL_LIBS_INCLUDES
-   ${THEIA_INTERNAL_LIB_PREFIX}
-   ${THEIA_INTERNAL_LIB_PREFIX}/akaze
--  ${THEIA_INTERNAL_LIB_PREFIX}/cereal
--  ${THEIA_INTERNAL_LIB_PREFIX}/cereal/include
--  ${THEIA_INTERNAL_LIB_PREFIX}/flann
--  ${THEIA_INTERNAL_LIB_PREFIX}/gtest
--  ${THEIA_INTERNAL_LIB_PREFIX}/gtest/include
-   ${THEIA_INTERNAL_LIB_PREFIX}/optimo
-   ${THEIA_INTERNAL_LIB_PREFIX}/spectra
-   ${THEIA_INTERNAL_LIB_PREFIX}/statx
-   ${THEIA_INTERNAL_LIB_PREFIX}/stlplus3
--  ${THEIA_INTERNAL_LIB_PREFIX}/vlfeat
--  ${THEIA_INTERNAL_LIB_PREFIX}/visual_sfm)
-+  ${THEIA_INTERNAL_LIB_PREFIX}/visual_sfm
-+  ${THEIA_INTERNAL_LIB_PREFIX}/vlfeat)
- 
- list(APPEND THEIA_INCLUDE_DIRS ${THEIA_INTERNAL_LIBS_INCLUDES})
- 
-diff --git a/libraries/CMakeLists.txt b/libraries/CMakeLists.txt
-index 84f3829..f88d75a 100644
---- a/libraries/CMakeLists.txt
-+++ b/libraries/CMakeLists.txt
-@@ -5,12 +5,6 @@ endif (${BUILD_TESTING})
- # AKAZE feature extractor.
- add_subdirectory(akaze)
- 
--# Cereal for portable IO.
--add_subdirectory(cereal)
--
--# Flann for fast approximate nearest neighbor searches.
--add_subdirectory(flann)
--
- # Add Optimo.
- add_subdirectory(optimo)
- 
-@@ -24,4 +18,4 @@ add_subdirectory(stlplus3)
- add_subdirectory(vlfeat)
- 
- # Add VisualSfM files.
--add_subdirectory(visual_sfm)
-\ No newline at end of file
-+add_subdirectory(visual_sfm)
-diff --git a/libraries/optimo/CMakeLists.txt b/libraries/optimo/CMakeLists.txt
-index 80f5e5f..ea57f1b 100644
---- a/libraries/optimo/CMakeLists.txt
-+++ b/libraries/optimo/CMakeLists.txt
-@@ -67,11 +67,11 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
- 
- # Locations to search for Eigen
- # Eigen
--find_package(Eigen REQUIRED)
--if (EIGEN_FOUND)
--  message("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}")
--endif (EIGEN_FOUND)
--include_directories(${EIGEN_INCLUDE_DIRS})
-+find_package(Eigen3 REQUIRED)
-+if (EIGEN3_FOUND)
-+  message("-- Found Eigen version ${EIGEN3_VERSION_STRING}: ${EIGEN3_INCLUDE_DIRS}")
-+endif (EIGEN3_FOUND)
-+include_directories(${EIGEN3_INCLUDE_DIRS})
- 
- # Setting CXX FLAGS appropriately. The code below was inspired from
- # Google CERES and modified for this library.
-diff --git a/libraries/statx/CMakeLists.txt b/libraries/statx/CMakeLists.txt
-index 23b9e49..c58a550 100644
---- a/libraries/statx/CMakeLists.txt
-+++ b/libraries/statx/CMakeLists.txt
-@@ -72,11 +72,11 @@ message("-- Default Install prefix: ${CMAKE_INSTALL_PREFIX}")
- option(STATX_WITH_CERES "Enables GEV parameter estimation using Ceres" ON)
- 
- # Eigen
--find_package(Eigen REQUIRED)
--if (EIGEN_FOUND)
--  message("-- Found Eigen version ${EIGEN_VERSION}: ${EIGEN_INCLUDE_DIRS}")
--endif (EIGEN_FOUND)
--include_directories(${EIGEN_INCLUDE_DIRS})
-+find_package(Eigen3 REQUIRED)
-+if (EIGEN3_FOUND)
-+  message("-- Found Eigen version ${EIGEN3_VERSION_STRING}: ${EIGEN3_INCLUDE_DIRS}")
-+endif (EIGEN3_FOUND)
-+include_directories(${EIGEN3_INCLUDE_DIRS})
- 
- # Google Flags
- find_package(Gflags REQUIRED)
-@@ -103,7 +103,11 @@ if(STATX_WITH_CERES)
-   endif(CERES_FOUND)
- 
-   # BLAS
--  find_package(BLAS REQUIRED)
-+  if(UNIX AND NOT APPLE)
-+    find_package(OpenBLAS REQUIRED)
-+  else()
-+    find_package(BLAS REQUIRED)
-+  endif()
- 
-   # LAPACK
-   find_package(LAPACK REQUIRED)
-@@ -129,7 +133,6 @@ set(XGAMMA_FILES ${XGAMMA_FUNCS}/asa121.cpp ${XGAMMA_FUNCS}/asa103.cpp)
- 
- # Setting CXX FLAGS appropriately. The code below was inspired from
- # Google CERES and modified for this library.
--set (CMAKE_BUILD_TYPE Release)
- set (STATX_CXX_FLAGS)
- 
- if (CMAKE_BUILD_TYPE STREQUAL "Release")
-diff --git a/libraries/vlfeat/CMakeLists.txt b/libraries/vlfeat/CMakeLists.txt
-index 7f4ffc7..15bca12 100644
---- a/libraries/vlfeat/CMakeLists.txt
-+++ b/libraries/vlfeat/CMakeLists.txt
-@@ -18,14 +18,19 @@ set(vl_sources
-   vl/random.c
-   vl/sift.c
-   vl/vlad.c)
-+
- set_source_files_properties(${vl_sources} PROPERTIES LANGUAGE C)
- 
-+add_library(vlfeat ${vl_sources})
-+
- if (MSVC)
--  add_definitions(-DVL_BUILD_DLL)
--  add_definitions(-DVL_DISABLE_SSE2)
-+  if(BUILD_SHARED_LIBS)
-+    target_compile_definitions(vlfeat PRIVATE VL_BUILD_DLL)
-+    target_compile_definitions(vlfeat INTERFACE BUILD_DLL)
-+  endif()
-+  target_compile_definitions(vlfeat PUBLIC VL_DISABLE_SSE2)
- endif (MSVC)
- 
--add_library(vlfeat SHARED ${vl_sources})
- install(TARGETS vlfeat
-   EXPORT  TheiaExport
-   RUNTIME DESTINATION bin
-diff --git a/libraries/vlfeat/vl/host.h b/libraries/vlfeat/vl/host.h
-index 293fe1f..0ea3d42 100644
---- a/libraries/vlfeat/vl/host.h
-+++ b/libraries/vlfeat/vl/host.h
-@@ -312,27 +312,31 @@ defined(__DOXYGEN__)
- #if defined(VL_COMPILER_MSC) & ! defined(__DOXYGEN__)
- #  define VL_UNUSED
- #  define VL_INLINE static __inline
--#  define snprintf _snprintf
- #  define isnan _isnan
--#  ifdef VL_BUILD_DLL
-+#  if defined(VL_BUILD_DLL)
- #    ifdef __cplusplus
- #      define VL_EXPORT extern "C" __declspec(dllexport)
- #    else
- #      define VL_EXPORT extern __declspec(dllexport)
- #    endif
--#  else
-+#  elif defined(VL_DLL)
- #    ifdef __cplusplus
- #      define VL_EXPORT extern "C" __declspec(dllimport)
- #    else
- #      define VL_EXPORT extern __declspec(dllimport)
- #    endif
-+#  else
-+#    ifdef __cplusplus
-+#      define VL_EXPORT extern "C"
-+#    else
-+#      define VL_EXPORT extern
-+#    endif
- #  endif
- #endif
- 
- #if defined(VL_COMPILER_LCC) & ! defined(__DOXYGEN__)
- #  define VL_UNUSED
- #  define VL_INLINE static __inline
--#  define snprintf _snprintf
- #  define isnan _isnan
- VL_INLINE float fabsf(float x) { return (float) fabs((double) x) ; }
- #  ifdef VL_BUILD_DLL
-diff --git a/src/theia/CMakeLists.txt b/src/theia/CMakeLists.txt
-index 6830f71..768586d 100644
---- a/src/theia/CMakeLists.txt
-+++ b/src/theia/CMakeLists.txt
-@@ -209,7 +209,6 @@ set(THEIA_LIBRARY_DEPENDENCIES
-   ${SUITESPARSE_LIBRARIES}
-   ${OPENIMAGEIO_LIBRARIES}
-   akaze
--  flann_cpp
-   statx
-   stlplus3
-   vlfeat

ports/theia/fix-external-dependencies2.patch

@@ -1,76 +0,0 @@
-diff --git a/cmake/TheiaConfig.cmake.in b/cmake/TheiaConfig.cmake.in
-index 7e9d912..2a98124 100644
---- a/cmake/TheiaConfig.cmake.in
-+++ b/cmake/TheiaConfig.cmake.in
-@@ -43,7 +43,7 @@ macro(THEIA_REPORT_NOT_FOUND REASON_MSG)
-   # use the camelcase library name, not uppercase.
-   if (Theia_FIND_QUIETLY)
-     message(STATUS "Failed to find Theia - " ${REASON_MSG} ${ARGN})
--  else (Theia_FIND_REQUIRED)
-+  elseif (Theia_FIND_REQUIRED)
-     message(FATAL_ERROR "Failed to find Theia - " ${REASON_MSG} ${ARGN})
-   else()
-     # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
-@@ -103,35 +103,35 @@ set(THEIA_INCLUDE_DIRS ${THEIA_INCLUDE_DIR})
- 
- # Eigen.
- # Flag set during configuration and build of Theia.
--set(THEIA_EIGEN_VERSION @EIGEN_VERSION@)
-+set(THEIA_EIGEN_VERSION @EIGEN3_VERSION@)
- # Append the locations of Eigen when Theia was built to the search path hints.
--list(APPEND EIGEN_INCLUDE_DIR_HINTS @EIGEN_INCLUDE_DIR@)
-+list(APPEND EIGEN_INCLUDE_DIR_HINTS @EIGEN3_INCLUDE_DIR@)
- # Search quietly s/t we control the timing of the error message if not found.
--find_package(Eigen ${THEIA_EIGEN_VERSION} EXACT QUIET)
--if (EIGEN_FOUND)
-+find_package(Eigen3 ${THEIA_EIGEN_VERSION} REQUIRED)
-+if (EIGEN3_FOUND)
-   message(STATUS "Found required Theia dependency: "
--    "Eigen version ${THEIA_EIGEN_VERSION} in ${EIGEN_INCLUDE_DIRS}")
--else (EIGEN_FOUND)
-+  "Eigen version ${THEIA_EIGEN_VERSION} in ${EIGEN3_INCLUDE_DIRS}")
-+else (EIGEN3_FOUND)
-   theia_report_not_found("Missing required Theia "
-     "dependency: Eigen version ${THEIA_EIGEN_VERSION}, please set "
-     "EIGEN_INCLUDE_DIR.")
--endif (EIGEN_FOUND)
--list(APPEND THEIA_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
-+endif (EIGEN3_FOUND)
-+list(APPEND THEIA_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
- 
- # Ceres.
- # Append the locations of ceres when Theia was built to the search path hints.
--list(APPEND CERES_INCLUDE_DIR_HINTS @CERES_INCLUDE_DIR@)
--get_filename_component(THEIA_BUILD_CERES_LIBRARY_DIR @CERES_LIBRARIES@ PATH)
--list(APPEND CERES_LIBRARY_DIR_HINTS ${THEIA_BUILD_CERES_LIBRARY_DIR})
-+#list(APPEND CERES_INCLUDE_DIR_HINTS @CERES_INCLUDE_DIR@)
-+#get_filename_component(THEIA_BUILD_CERES_LIBRARY_DIR @CERES_LIBRARIES@ PATH)
-+#list(APPEND CERES_LIBRARY_DIR_HINTS ${THEIA_BUILD_CERES_LIBRARY_DIR})
- # Search quietly s/t we control the timing of the error message if not found.
- find_package(Ceres REQUIRED)
- list(APPEND THEIA_INCLUDE_DIRS ${CERES_INCLUDE_DIRS})
- 
- # Glog.
- # Append the locations of glog when Theia was built to the search path hints.
--list(APPEND GLOG_INCLUDE_DIR_HINTS @GLOG_INCLUDE_DIR@)
--get_filename_component(THEIA_BUILD_GLOG_LIBRARY_DIR @GLOG_LIBRARY@ PATH)
--list(APPEND GLOG_LIBRARY_DIR_HINTS ${THEIA_BUILD_GLOG_LIBRARY_DIR})
-+#list(APPEND GLOG_INCLUDE_DIR_HINTS @GLOG_INCLUDE_DIR@)
-+#get_filename_component(THEIA_BUILD_GLOG_LIBRARY_DIR @GLOG_LIBRARY@ PATH)
-+#list(APPEND GLOG_LIBRARY_DIR_HINTS ${THEIA_BUILD_GLOG_LIBRARY_DIR})
- # Search quietly s/t we control the timing of the error message if not found.
- find_package(Glog REQUIRED)
- list(APPEND THEIA_INCLUDE_DIRS ${GLOG_INCLUDE_DIRS})
-diff --git a/src/theia/CMakeLists.txt b/src/theia/CMakeLists.txt
-index 768586d..c1f6593 100644
---- a/src/theia/CMakeLists.txt
-+++ b/src/theia/CMakeLists.txt
-@@ -207,7 +207,7 @@ set(THEIA_LIBRARY_DEPENDENCIES
-   ${GFLAGS_LIBRARIES}
-   ${GLOG_LIBRARIES}
-   ${SUITESPARSE_LIBRARIES}
--  ${OPENIMAGEIO_LIBRARIES}
-+  OpenImageIO::OpenImageIO
-   akaze
-   statx
-   stlplus3

ports/theia/fix-last-openimageio.patch

@@ -1,44 +0,0 @@
-diff --git a/src/theia/image/image.cc b/src/theia/image/image.cc
-index 6175a1f..18cb59b 100644
---- a/src/theia/image/image.cc
-+++ b/src/theia/image/image.cc
-@@ -296,7 +296,7 @@ FloatImage FloatImage::ComputeGradient() const {
- 
- void FloatImage::ApproximateGaussianBlur(const int kernel_size) {
-   oiio::ImageBuf kernel;
--  oiio::ImageBufAlgo::make_kernel(kernel, "gaussian",
-+  oiio::ImageBufAlgo::make_kernel("gaussian",
-                                   static_cast<float>(kernel_size),
-                                   static_cast<float>(kernel_size));
-   oiio::ImageBufAlgo::convolve(image_, image_, kernel);
-diff --git a/src/theia/sfm/exif_reader.cc b/src/theia/sfm/exif_reader.cc
-index c63465a..6b0e702 100644
---- a/src/theia/sfm/exif_reader.cc
-+++ b/src/theia/sfm/exif_reader.cc
-@@ -150,7 +150,7 @@ bool ExifReader::ExtractEXIFMetadata(
-   camera_intrinsics_prior->focal_length.is_set = true;
- 
-   // Set GPS latitude.
--  const oiio::ImageIOParameter* latitude =
-+  const OIIO::ParamValue* latitude =
-       image_spec.find_attribute("GPS:Latitude");
-   if (latitude != nullptr) {
-     camera_intrinsics_prior->latitude.is_set = true;
-@@ -169,7 +169,7 @@ bool ExifReader::ExtractEXIFMetadata(
-   }
- 
-   // Set GPS longitude.
--  const oiio::ImageIOParameter* longitude =
-+  const OIIO::ParamValue* longitude =
-       image_spec.find_attribute("GPS:Longitude");
-   if (longitude != nullptr) {
-     camera_intrinsics_prior->longitude.is_set = true;
-@@ -189,7 +189,7 @@ bool ExifReader::ExtractEXIFMetadata(
- 
- 
-   // Set GSP altitude.
--  const oiio::ImageIOParameter* altitude =
-+  const OIIO::ParamValue* altitude =
-       image_spec.find_attribute("GPS:Altitude");
-   if (altitude != nullptr) {
-     camera_intrinsics_prior->altitude.is_set = true;

ports/theia/portfile.cmake

@@ -1,56 +0,0 @@
-vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
-
-vcpkg_from_github(
-    OUT_SOURCE_PATH SOURCE_PATH
-    REPO sweeneychris/TheiaSfM
-    REF v0.8
-    SHA512 2f620389c415badec36f4b44be0378fc62761dd6b2ee4cd7033b13573c372f098e248553575fb2cceb757b1ca00e86a11c67e03b6077e0a4b0f8797065746312
-    HEAD_REF master
-    PATCHES
-        fix-external-dependencies.patch
-        fix-external-dependencies2.patch
-        eigen-3.4.patch
-        266.diff
-        fix-last-openimageio.patch
-)
-
-file(REMOVE "${SOURCE_PATH}/cmake/FindSuiteSparse.cmake")
-file(REMOVE "${SOURCE_PATH}/cmake/FindOpenImageIO.cmake")
-file(REMOVE "${SOURCE_PATH}/cmake/FindGflags.cmake")
-file(REMOVE "${SOURCE_PATH}/cmake/FindGlog.cmake")
-file(REMOVE "${SOURCE_PATH}/cmake/FindEigen.cmake")
-
-vcpkg_cmake_configure(
-    SOURCE_PATH "${SOURCE_PATH}"
-    OPTIONS
-        -DCMAKE_CXX_STANDARD=14
-        -DCMAKE_CXX_EXTENSIONS=OFF
-        -DCMAKE_CXX_STANDARD_REQUIRED=ON
-        -DBUILD_TESTING=OFF
-        -DTHEIA_USE_EXTERNAL_CEREAL=ON
-        -DTHEIA_USE_EXTERNAL_FLANN=ON
-        -DCMAKE_POLICY_DEFAULT_CMP0012=NEW
-        -DCMAKE_POLICY_DEFAULT_CMP0057=NEW
-    MAYBE_UNUSED_VARIABLES
-        CMAKE_POLICY_DEFAULT_CMP0012
-        THEIA_USE_EXTERNAL_CEREAL
-        THEIA_USE_EXTERNAL_FLANN
-)
-
-vcpkg_cmake_install()
-vcpkg_cmake_config_fixup()
-vcpkg_copy_pdbs()
-
-# Clean
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/optimo")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/share")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/optimo")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/include/theia/libraries/akaze/cimg/cmake-modules")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/include/theia/libraries/akaze/cmake")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/include/theia/libraries/akaze/datasets")
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/include/theia/libraries/spectra/doxygen")
-
-# Handle copyright
-vcpkg_install_copyright(FILE_LIST "${SOURCE_PATH}/license.txt")
-file(COPY "${SOURCE_PATH}/data/camera_sensor_database_license.txt" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}")

ports/theia/vcpkg.json

@@ -1,38 +0,0 @@
-{
-  "name": "theia",
-  "version": "0.8",
-  "port-version": 12,
-  "description": "An open source library for multiview geometry and structure from motion",
-  "homepage": "https://github.com/sweeneychris/TheiaSfM",
-  "license": "BSD-3-Clause",
-  "supports": "!uwp & !arm & !(windows & x86)",
-  "dependencies": [
-    "cereal",
-    {
-      "name": "ceres",
-      "features": [
-        "suitesparse"
-      ]
-    },
-    "flann",
-    {
-      "name": "freeglut",
-      "platform": "!osx"
-    },
-    "glew",
-    {
-      "name": "openimageio",
-      "features": [
-        "viewer"
-      ]
-    },
-    {
-      "name": "vcpkg-cmake",
-      "host": true
-    },
-    {
-      "name": "vcpkg-cmake-config",
-      "host": true
-    }
-  ]
-}

versions/baseline.json

@@ -1516,10 +1516,6 @@
       "baseline": "1.2.0",
       "port-version": 0
     },
-    "cartographer": {
-      "baseline": "1.0.0",
-      "port-version": 6
-    },
     "casadi": {
       "baseline": "3.6.7",
       "port-version": 0
@@ -1585,8 +1581,8 @@
       "port-version": 1
     },
     "ceres": {
-      "baseline": "2.1.0",
+      "baseline": "2.2.0",
-      "port-version": 5
+      "port-version": 0
     },
     "cfitsio": {
       "baseline": "3.49",
@@ -6733,8 +6729,8 @@
       "port-version": 1
     },
     "openmvg": {
-      "baseline": "2.0",
+      "baseline": "2.1",
-      "port-version": 11
+      "port-version": 0
     },
     "openmvs": {
       "baseline": "2.1.0",
@@ -6773,8 +6769,8 @@
       "port-version": 4
     },
     "openturns": {
-      "baseline": "1.20",
+      "baseline": "1.24",
-      "port-version": 2
+      "port-version": 0
     },
     "openvdb": {
       "baseline": "12.0.0",
@@ -8050,7 +8046,7 @@
     },
     "rtabmap": {
       "baseline": "0.21.4.1",
-      "port-version": 3
+      "port-version": 4
     },
     "rtabmap-res-tool": {
       "baseline": "0.21.4.1",
@@ -8912,10 +8908,6 @@
       "baseline": "1.6.1",
       "port-version": 0
     },
-    "theia": {
-      "baseline": "0.8",
-      "port-version": 12
-    },
     "think-cell-range": {
       "baseline": "2023.1",
       "port-version": 1

versions/c-/ceres.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "ae2ddb638679c4955ec12f60c33eb43493786535",
+      "version": "2.2.0",
+      "port-version": 0
+    },
     {
       "git-tree": "213619bf4451443bd69f784f9a7fa32fc2436e07",
       "version": "2.1.0",

versions/o-/openmvg.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "897ab1ecaccba02608f2a36ebc8072548aa6c395",
+      "version": "2.1",
+      "port-version": 0
+    },
     {
       "git-tree": "e08aec4337f9a281817b2c84d04fee5a079551d8",
       "version": "2.0",

versions/o-/openturns.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "a7fd1d7b26b1383de54594cbf65327ec8db97ea9",
+      "version": "1.24",
+      "port-version": 0
+    },
     {
       "git-tree": "55e0a233063acabd3fe365687fda3f99d6e79f4c",
       "version": "1.20",

versions/r-/rtabmap.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "8095952b0fbd2d24600e3314c345184503634e8f",
+      "version": "0.21.4.1",
+      "port-version": 4
+    },
     {
       "git-tree": "9bab9b050ad5e8db991955d2905f95cc5ce4a1ff",
       "version": "0.21.4.1",