[eigen3] update to v5.0.1 (#47523)

ports/cctag/0001-support-eigen3-5.patch

@@ -0,0 +1,16 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index d0e35b6..6633a9e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -232,9 +232,9 @@ endif(CCTAG_WITH_CUDA)
+ find_package(OpenCV REQUIRED core videoio imgproc imgcodecs)
+ 
+ # FIND Eigen
+-set(CCTAG_EIGEN_REQUIRED_VERSION 3.3.4)
++set(CCTAG_EIGEN_REQUIRED_VERSION 3.3.4...5)
+ if(MSVC AND CCTAG_WITH_CUDA)
+-  set(CCTAG_EIGEN_REQUIRED_VERSION 3.3.9)
++  set(CCTAG_EIGEN_REQUIRED_VERSION 3.3.9...5)
+   message(WARNING "Building CCTag with Cuda support under windows requires Eigen >= ${CCTAG_EIGEN_REQUIRED_VERSION}")
+ endif()
+ find_package(Eigen3 ${CCTAG_EIGEN_REQUIRED_VERSION} REQUIRED)

ports/cctag/portfile.cmake

@@ -4,13 +4,15 @@ vcpkg_from_github(
     REF "v${VERSION}"
     SHA512 65f8260213faab1965ff97e38b890d85f5599c5db5f50f09ab1ed2d73d7008d2e93693145d66a4d9af6342666817204736c3b0384885fa50402850f1dc5dceae
     HEAD_REF develop
+    PATCHES
+        0001-support-eigen3-5.patch
 )
 
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
-        FEATURES
+    FEATURES
-            cuda       CCTAG_WITH_CUDA
+        cuda CCTAG_WITH_CUDA
-            apps       CCTAG_BUILD_APPS
+        apps CCTAG_BUILD_APPS
-)
+  )
 
 if("cuda" IN_LIST FEATURES)
     vcpkg_find_cuda(OUT_CUDA_TOOLKIT_ROOT CUDA_TOOLKIT_ROOT)

ports/cctag/vcpkg.json

@@ -1,6 +1,7 @@
 {
   "name": "cctag",
   "version-semver": "1.0.4",
+  "port-version": 1,
   "maintainers": "alicevision-team@googlegroups.com",
   "description": "Computer vision library for detecting CCTag markers made up of concentric circles",
   "homepage": "https://github.com/alicevision/CCTag",

ports/ceres/0008_support_eigen3_5.patch

@@ -0,0 +1,48 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 7e7e413..1ab96b1 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -182,7 +182,7 @@ unset(CERES_COMPILE_OPTIONS)
+ 
+ # Eigen.
+ # Eigen delivers Eigen3Config.cmake since v3.3.3
+-find_package(Eigen3 3.3 REQUIRED)
++find_package(Eigen3 3.3...5 REQUIRED)
+ if (Eigen3_FOUND)
+   message("-- Found Eigen version ${Eigen3_VERSION}: ${Eigen3_DIR}")
+   if (CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)" AND
+
+diff --git a/internal/ceres/covariance_impl.cc b/internal/ceres/covariance_impl.cc
+index 56221945a55927aff91ab96b37a9af19514ca508..930711fd01f0a61aad88b188acad4958f777f706 100644
+--- a/internal/ceres/covariance_impl.cc
++++ b/internal/ceres/covariance_impl.cc
+@@ -724,8 +724,13 @@ bool CovarianceImpl::ComputeCovarianceValuesUsingDenseSVD() {
+   }
+   event_logger.AddEvent("ConvertToDenseMatrix");
+ 
++#if EIGEN_VERSION_AT_LEAST(5, 0, 0)
++  Eigen::BDCSVD<Matrix, Eigen::ComputeThinU | Eigen::ComputeThinV> svd(
++      dense_jacobian);
++#else   // !EIGEN_VERSION_AT_LEAST(5, 0, 0)
+   Eigen::BDCSVD<Matrix> svd(dense_jacobian,
+                             Eigen::ComputeThinU | Eigen::ComputeThinV);
++#endif  // EIGEN_VERSION_AT_LEAST(5, 0, 0)
+ 
+   event_logger.AddEvent("SingularValueDecomposition");
+ 
+diff --git a/internal/ceres/invert_psd_matrix.h b/internal/ceres/invert_psd_matrix.h
+index 21ba2dc8a150725aae2a779b7551ad4b7973b379..dd3a0a34bf02f8852a7a71edbc8ac0e9a8865f51 100644
+--- a/internal/ceres/invert_psd_matrix.h
++++ b/internal/ceres/invert_psd_matrix.h
+@@ -67,7 +67,11 @@ typename EigenTypes<kSize, kSize>::Matrix InvertPSDMatrix(
+ 
+   // For a thin SVD the number of columns of the matrix need to be dynamic.
+   using SVDMType = typename EigenTypes<kSize, Eigen::Dynamic>::Matrix;
++#if EIGEN_VERSION_AT_LEAST(5, 0, 0)
++  Eigen::JacobiSVD<SVDMType, Eigen::ComputeThinU | Eigen::ComputeThinV> svd(m);
++#else   // !EIGEN_VERSION_AT_LEAST(5, 0, 0)
+   Eigen::JacobiSVD<SVDMType> svd(m, Eigen::ComputeThinU | Eigen::ComputeThinV);
++#endif  // EIGEN_VERSION_AT_LEAST(5, 0, 0)
+   return svd.solve(MType::Identity(size, size));
+ }
+ 

ports/ceres/portfile.cmake

@@ -10,6 +10,7 @@ vcpkg_from_github(
         0005_link_cuda_static.patch
         0006_fix_cuda_architectures.patch
         0007_support_cuda_13.patch
+        0008_support_eigen3_5.patch
 )
 file(REMOVE "${SOURCE_PATH}/cmake/FindGflags.cmake")
 file(REMOVE "${SOURCE_PATH}/cmake/FindGlog.cmake")

ports/ceres/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "ceres",
   "version": "2.2.0",
-  "port-version": 5,
+  "port-version": 6,
   "description": "non-linear optimization package",
   "homepage": "https://github.com/ceres-solver/ceres-solver",
   "license": "Apache-2.0",

ports/chronoengine/0001-dependencies.patch

@@ -0,0 +1,688 @@
+diff --git a/cmake/FindBLAS.cmake b/cmake/FindBLAS.cmake
+index 6a8f0f9..c44f92e 100644
+--- a/cmake/FindBLAS.cmake
++++ b/cmake/FindBLAS.cmake
+@@ -487,7 +487,7 @@ if (BLA_VENDOR MATCHES "Intel" OR BLA_VENDOR STREQUAL "All")
+  endif ()
+  if (CMAKE_C_COMPILER_LOADED OR CMAKE_CXX_COMPILER_LOADED)
+   if(BLAS_FIND_QUIETLY OR NOT BLAS_FIND_REQUIRED)
+-    find_package(Threads)
++    find_package(Threads REQUIRED)
+   else()
+     find_package(Threads REQUIRED)
+   endif()
+diff --git a/cmake/FindEigen3.cmake b/cmake/FindEigen3.cmake
+index 0d2b3ce..4154783 100644
+--- a/cmake/FindEigen3.cmake
++++ b/cmake/FindEigen3.cmake
+@@ -1,96 +1,163 @@
+-# - Try to find Eigen3 lib
++# Try to find Eigen3 lib
+ #
+ # This module supports requiring a minimum version, e.g. you can do
+ #   find_package(Eigen3 3.1.2)
+ # to require version 3.1.2 or newer of Eigen3.
+ #
+-# Once done this will define
++# If successful, this will define
+ #
+-#  EIGEN3_FOUND - system has eigen lib with correct version
+-#  EIGEN3_INCLUDE_DIR - the eigen include directory
+-#  EIGEN3_VERSION - eigen version
++#  Eigen3_FOUND - system has Eigen3 lib with correct version
++#  EIGEN3_INCLUDE_DIR - the Eigen3 include directory
++#  EIGEN3_VERSION - Eigen3 version
+ #
+-# This module reads hints about search locations from 
+-# the following enviroment variables:
++# and the following imported target:
+ #
+-# EIGEN3_ROOT
+-# EIGEN3_ROOT_DIR
++#  Eigen3::Eigen - The header-only Eigen library
++#
++# This module reads hints about search locations from the following environment variables:
++#   EIGEN3_ROOT
++#   EIGEN3_ROOT_DIR
+ 
++# Based on:
+ # Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+ # Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+ # Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+ # Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+ 
++
+ if(NOT Eigen3_FIND_VERSION)
+   if(NOT Eigen3_FIND_VERSION_MAJOR)
+-    set(Eigen3_FIND_VERSION_MAJOR 2)
+-  endif(NOT Eigen3_FIND_VERSION_MAJOR)
++    set(Eigen3_FIND_VERSION_MAJOR 3)
++  endif()
+   if(NOT Eigen3_FIND_VERSION_MINOR)
+-    set(Eigen3_FIND_VERSION_MINOR 91)
+-  endif(NOT Eigen3_FIND_VERSION_MINOR)
++    set(Eigen3_FIND_VERSION_MINOR 3)
++  endif()
+   if(NOT Eigen3_FIND_VERSION_PATCH)
+     set(Eigen3_FIND_VERSION_PATCH 0)
+-  endif(NOT Eigen3_FIND_VERSION_PATCH)
++  endif()
+ 
+   set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+-endif(NOT Eigen3_FIND_VERSION)
++endif()
+ 
+-macro(_eigen3_check_version)
+-  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
++# ------------------------------------------------------------------------------
+ 
+-  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+-  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+-  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+-  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+-  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+-  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
++macro(_eigen3_check_version)
++  if(EXISTS "${EIGEN3_INCLUDE_DIR}/Eigen/Version")
++      # Eigen version >= 5.0.0
++      file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/Version" _eigen3_version_header)
++      
++      string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
++      set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
++      string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
++      set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
++      string(REGEX MATCH "define[ \t]+EIGEN_PATCH_VERSION[ \t]+([0-9]+)" _eigen3_patch_version_match "${_eigen3_version_header}")
++      set(EIGEN3_PATCH_VERSION "${CMAKE_MATCH_1}")
++      
++      set(EIGEN3_VERSION ${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}.${EIGEN3_PATCH_VERSION})
++  elseif(EXISTS "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h")
++      # Eigen version <= 3.4.1
++      file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
++      
++      string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
++      set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
++      string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
++      set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
++      string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
++      set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
++      
++      set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
++  endif()
++
++  if(EIGEN3_VERSION)
++      if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
++          set(EIGEN3_VERSION_OK FALSE)
++          message("WARNING: Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
++                  "but at least version ${Eigen3_FIND_VERSION} is required")
++      else()
++          set(EIGEN3_VERSION_OK TRUE)
++      endif()
++  else()
++      message("ERROR: cannot find Eigen3 version information")
++  endif()
++
++endmacro()
++
++# ------------------------------------------------------------------------------
++
++if(EIGEN3_INCLUDE_DIR)
++
++    if(NOT Eigen3_FIND_QUIETLY)
++      message(STATUS "  EIGEN3_INCLUDE_DIR found in cache.")
++      message(STATUS "  Eigen3 include dir: ${EIGEN3_INCLUDE_DIR}")
++    endif()
+ 
+-  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+-  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+-    set(EIGEN3_VERSION_OK FALSE)
+-  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+-    set(EIGEN3_VERSION_OK TRUE)
+-  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
++    _eigen3_check_version()
++    set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
++    set(Eigen3_FOUND ${EIGEN3_VERSION_OK})
+ 
+-  if(NOT EIGEN3_VERSION_OK)
++else()
+ 
+-    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
+-                   "but at least version ${Eigen3_FIND_VERSION} is required")
+-  endif(NOT EIGEN3_VERSION_OK)
+-endmacro(_eigen3_check_version)
++    if(NOT Eigen3_FIND_QUIETLY)
++      message(STATUS "  EIGEN3_INCLUDE_DIR NOT found in cache.")
++      message(STATUS "  Looking for Eigen3Config.cmake.")
++    endif()
++  
++    # Check if Eigen3Config.cmake is available
++    if(Eigen3_FIND_QUIETLY)
++      find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE QUIET)
++    else()
++      find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE)
++    endif()
+ 
+-if (EIGEN3_INCLUDE_DIR)
++    if(Eigen3_FOUND)
+ 
+-  # in cache already
+-  _eigen3_check_version()
+-  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
++        get_target_property(EIGEN3_INCLUDE_DIR Eigen3::Eigen INTERFACE_INCLUDE_DIRECTORIES)
+ 
+-else (EIGEN3_INCLUDE_DIR)
++        if(NOT Eigen3_FIND_QUIETLY)
++          message(STATUS "  Eigen3 found with Eigen3Config.cmake.")
++          message(STATUS "  Eigen3 include dir: ${EIGEN3_INCLUDE_DIR}")
++        endif()
+   
+-  # search first if an Eigen3Config.cmake is available in the system,
+-  # if successful this would set EIGEN3_INCLUDE_DIR and the rest of
+-  # the script will work as usual
+-  find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE QUIET)
++    else()
++  
++        if(NOT Eigen3_FIND_QUIETLY)
++          message(STATUS "  Eigen3 NOT found through Eigen3Config.cmake.")
++          message(STATUS "  Searching paths EIGEN3_ROOT, EIGEN3_ROOT_DIR.")
++        endif()
+ 
+-  if(NOT EIGEN3_INCLUDE_DIR)
+-    find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
++        find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+         HINTS
+-        ENV EIGEN3_ROOT 
+-        ENV EIGEN3_ROOT_DIR
++        ENV Eigen3_ROOT 
++        ENV Eigen3_ROOT_DIR
+         PATHS
+         ${CMAKE_INSTALL_PREFIX}/include
+         ${KDE4_INCLUDE_DIR}
+         PATH_SUFFIXES eigen3 eigen
+-      )
+-  endif(NOT EIGEN3_INCLUDE_DIR)
++        )
+ 
+-  if(EIGEN3_INCLUDE_DIR)
+-    _eigen3_check_version()
+-  endif(EIGEN3_INCLUDE_DIR)
++        if(NOT EIGEN3_INCLUDE_DIR)
++           if(NOT Eigen3_FIND_QUIETLY)
++             message(STATUS "  EIGEN3_INCLUDE_DIR NOT found through find_path.")
++           endif()
++        endif()
++
++    endif()
++
++    if(EIGEN3_INCLUDE_DIR)
++      _eigen3_check_version()
++    endif()
++
++    include(FindPackageHandleStandardArgs)
++    find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
++
++    mark_as_advanced(EIGEN3_INCLUDE_DIR)
+ 
+-  include(FindPackageHandleStandardArgs)
+-  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
++endif()
+ 
+-  mark_as_advanced(EIGEN3_INCLUDE_DIR)
++# ------------------------------------------------------------------------------
+ 
+-endif(EIGEN3_INCLUDE_DIR)
++if(Eigen3_FOUND AND NOT TARGET Eigen3::Eigen)
++    add_library(Eigen3::Eigen INTERFACE IMPORTED)
++    set_target_properties(Eigen3::Eigen PROPERTIES
++                          INTERFACE_INCLUDE_DIRECTORIES "${EIGEN3_INCLUDE_DIR}")
++endif()
+diff --git a/cmake/FindMKL.cmake b/cmake/FindMKL.cmake
+index 6f8a274..acf43af 100644
+--- a/cmake/FindMKL.cmake
++++ b/cmake/FindMKL.cmake
+@@ -7,7 +7,7 @@
+ #
+ # Usage example:
+ #   set(MKL_USE_STATIC_LIBS ON)
+-#   find_package(MKL)
++#   find_package(MKL REQUIRED)
+ #   if (MKL_FOUND)
+ #      include_directories(${MKL_INCLUDE_DIRS})
+ #      link_directories(${MKL_LIBRARY_DIRS})
+diff --git a/cmake/FindMyGUI.cmake b/cmake/FindMyGUI.cmake
+index b5563c8..2fc9912 100644
+--- a/cmake/FindMyGUI.cmake
++++ b/cmake/FindMyGUI.cmake
+@@ -81,7 +81,7 @@ IF (WIN32) #Windows
+     ENDIF (OGRESOURCE)
+ ELSE (WIN32) #Unix
+     CMAKE_MINIMUM_REQUIRED(VERSION 2.4.7 FATAL_ERROR)
+-    FIND_PACKAGE(PkgConfig)
++    find_package(PkgConfig REQUIRED)
+     IF(MYGUI_STATIC)
+         # don't use pkgconfig on OS X, find freetype & append it's libs to resulting MYGUI_LIBRARIES
+         IF (NOT APPLE)
+@@ -101,7 +101,7 @@ ELSE (WIN32) #Unix
+             ENDIF (MYGUI_INCLUDE_DIRS)
+         ELSE (NOT APPLE)
+             SET(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ${MYGUI_DEPENDENCIES_DIR} ${OGRE_DEPENDENCIES_DIR})
+-            FIND_PACKAGE(freetype)
++            find_package(freetype REQUIRED)
+             FIND_PATH(MYGUI_INCLUDE_DIRS MyGUI.h PATHS /usr/local/include /usr/include PATH_SUFFIXES MyGUI MYGUI)
+             FIND_LIBRARY(MYGUI_LIBRARIES MyGUIEngineStatic PATHS /usr/lib /usr/local/lib)
+             SET(MYGUI_PLATFORM_LIBRARIES "MyGUI.OgrePlatform")
+diff --git a/cmake/FindOgre.cmake b/cmake/FindOgre.cmake
+index 9e2081a..950ba01 100644
+--- a/cmake/FindOgre.cmake
++++ b/cmake/FindOgre.cmake
+@@ -262,17 +262,17 @@ endif ()
+ # look for required Ogre dependencies in case of static build and/or threading
+ if (OGRE_STATIC)
+   set(OGRE_DEPS_FOUND TRUE)
+-  find_package(Cg QUIET)
+-  find_package(DirectX QUIET)
+-  find_package(FreeImage QUIET)
+-  find_package(Freetype QUIET)
+-  find_package(OpenGL QUIET)
+-  find_package(OpenGLES QUIET)
+-  find_package(OpenGLES2 QUIET)
+-  find_package(ZLIB QUIET)
+-  find_package(ZZip QUIET)
++  find_package(Cg REQUIRED)
++  find_package(DirectX REQUIRED)
++  find_package(FreeImage REQUIRED)
++  find_package(Freetype REQUIRED)
++  find_package(OpenGL REQUIRED)
++  find_package(OpenGLES REQUIRED)
++  find_package(OpenGLES2 REQUIRED)
++  find_package(ZLIB REQUIRED)
++  find_package(ZZip REQUIRED)
+   if (UNIX AND NOT APPLE AND NOT ANDROID)
+-    find_package(X11 QUIET)
++    find_package(X11 REQUIRED)
+     find_library(XAW_LIBRARY NAMES Xaw Xaw7 PATHS ${DEP_LIB_SEARCH_DIR} ${X11_LIB_SEARCH_PATH})
+     if (NOT XAW_LIBRARY OR NOT X11_Xt_FOUND)
+       set(X11_FOUND FALSE)
+@@ -310,7 +310,7 @@ endif()
+       endif()
+       
+       set(OGRE_BOOST_COMPONENTS thread date_time)
+-      find_package(Boost COMPONENTS ${OGRE_BOOST_COMPONENTS} QUIET)
++      find_package(Boost COMPONENTS ${OGRE_BOOST_COMPONENTS} REQUIRED)
+       if(Boost_FOUND AND Boost_VERSION GREATER 104900)
+         if(Boost_VERSION GREATER 105300)
+             set(OGRE_BOOST_COMPONENTS thread date_time system atomic chrono)
+@@ -319,7 +319,7 @@ endif()
+         endif()
+       endif()
+ 
+-      find_package(Boost COMPONENTS ${OGRE_BOOST_COMPONENTS} QUIET)
++      find_package(Boost COMPONENTS ${OGRE_BOOST_COMPONENTS} REQUIRED)
+       if (NOT Boost_THREAD_FOUND)
+         set(OGRE_DEPS_FOUND FALSE)
+       else ()
+@@ -327,7 +327,7 @@ endif()
+         set(OGRE_INCLUDE_DIRS ${OGRE_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+       endif ()
+     elseif (OGRE_CONFIG_THREAD_PROVIDER EQUAL 2)
+-      find_package(POCO QUIET)
++      find_package(POCO REQUIRED)
+       if (NOT POCO_FOUND)
+         set(OGRE_DEPS_FOUND FALSE)
+       else ()
+@@ -335,7 +335,7 @@ endif()
+         set(OGRE_INCLUDE_DIRS ${OGRE_INCLUDE_DIRS} ${POCO_INCLUDE_DIRS})
+       endif ()
+     elseif (OGRE_CONFIG_THREAD_PROVIDER EQUAL 3)
+-      find_package(TBB QUIET)
++      find_package(TBB REQUIRED)
+       if (NOT TBB_FOUND)
+         set(OGRE_DEPS_FOUND FALSE)
+       else ()
+diff --git a/cmake/FindPkgMacros.cmake b/cmake/FindPkgMacros.cmake
+index 53111e0..2f6881c 100644
+--- a/cmake/FindPkgMacros.cmake
++++ b/cmake/FindPkgMacros.cmake
+@@ -70,7 +70,7 @@ endmacro(clear_if_changed)
+ # Try to get some hints from pkg-config, if available
+ macro(use_pkgconfig PREFIX PKGNAME)
+   if(NOT ANDROID)
+-    find_package(PkgConfig)
++    find_package(PkgConfig REQUIRED)
+     if (PKG_CONFIG_FOUND)
+       pkg_check_modules(${PREFIX} ${PKGNAME})
+     endif ()
+diff --git a/cmake/FindSDL2.cmake b/cmake/FindSDL2.cmake
+index 4b8f7e9..e27895a 100644
+--- a/cmake/FindSDL2.cmake
++++ b/cmake/FindSDL2.cmake
+@@ -112,7 +112,7 @@ ENDIF(NOT SDL2_BUILDING_LIBRARY)
+ # frameworks may already provide it.
+ # But for non-OSX systems, I will use the CMake Threads package.
+ IF(NOT APPLE)
+-	FIND_PACKAGE(Threads)
++	find_package(Threads REQUIRED)
+ ENDIF(NOT APPLE)
+ 
+ # MinGW needs an additional library, mwindows
+diff --git a/cmake/GetGitRevisionDescription.cmake b/cmake/GetGitRevisionDescription.cmake
+index 319f307..68ec2da 100644
+--- a/cmake/GetGitRevisionDescription.cmake
++++ b/cmake/GetGitRevisionDescription.cmake
+@@ -82,7 +82,7 @@ endfunction()
+ 
+ function(git_describe _var)
+ 	if(NOT GIT_FOUND)
+-		find_package(Git QUIET)
++		find_package(Git REQUIRED)
+ 	endif()
+ 	get_git_head_revision(refspec hash)
+ 	if(NOT GIT_FOUND)
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index d75ce10..3603db6 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -96,7 +96,7 @@ endif()
+ 
+ message(STATUS "Searching for Threads...")
+ set(THREADS_PREFER_PTHREAD_FLAG TRUE)
+-find_package(Threads)
++find_package(Threads REQUIRED)
+ 
+ message(STATUS "  Thread library:      ${CMAKE_THREAD_LIBS_INIT}")
+ message(STATUS "  Using Win32 threads? ${CMAKE_USE_WIN32_THREADS_INIT}")
+@@ -112,7 +112,7 @@ set(CH_C_FLAGS "${CH_C_FLAGS} ${CMAKE_THREAD_LIBS_INIT}")
+ # main ChronoEngine library, regardless on whether or not OpenMP is found.
+ 
+ message(STATUS "Searching for OpenMP...")
+-find_package(OpenMP)
++# find_package(OpenMP)
+ 
+ # Determine OpenMP version. Prepare substitution variables that can be used in
+ # generating configuration header files.
+@@ -177,7 +177,7 @@ if(USE_SIMD)
+ 	
+    # Figure out SIMD support
+    message(STATUS "Testing SIMD capabilities...")
+-   find_package(SIMD)
++   find_package(SIMD REQUIRED)
+    
+    # Set substitution variables for configuration file
+    if(SIMD_SSE)
+@@ -249,22 +249,28 @@ endif()
+ # Eigen library
+ #-----------------------------------------------------------------------------
+ 
+-message(STATUS "Searching for Eigen3...")
+-find_package(Eigen3 3.3.0)
+-if(EIGEN3_FOUND)
+-  message(STATUS "  Eigen3 version: ${EIGEN3_VERSION}")
+-  message(STATUS "  Eigen3 include directory: ${EIGEN3_INCLUDE_DIR}")
++message(STATUS "Searching for Eigen3")
++find_package(Eigen3 3.3 REQUIRED)
++if(Eigen3_FOUND)
++  message(STATUS "Eigen3 found")
++  message(STATUS "  Eigen3 version:     ${EIGEN3_VERSION}")
++  message(STATUS "  Eigen3 include dir: ${EIGEN3_INCLUDE_DIR}")
++  mark_as_advanced(FORCE EIGEN3_INCLUDE_DIR)
++  mark_as_advanced(FORCE Eigen3_DIR)
+ else()
++  message(ERROR "Eigen3 cannot be found.\n"
++          "  Provide Eigen3_DIR (location of Eigen3Config.cmake) or else\n" 
++          "  set either EIGEN3_INCLUDE_DIR or the envvar Eigen3_ROOT to the location of Eigen library.")
++  set(EIGEN3_INCLUDE_DIR "" CACHE PATH "Path to Eigen3 directory (should contain a subfolder named \"Eigen\"")
++  set(Eigen3_DIR "" CACHE PATH "Path to Eigen3 config file (should contain the \"Eigen3Config.cmake\" file")
+   mark_as_advanced(CLEAR EIGEN3_INCLUDE_DIR)
+-  mark_as_advanced(FORCE Eigen3_DIR)
+-  message(FATAL_ERROR "  Eigen3 not found. Specify EIGEN3_INCLUDE_DIR")
++  mark_as_advanced(CLEAR Eigen3_DIR)
++  return()
+ endif()
+ 
+ # Fix for VS 2017 15.8 and newer to handle alignment specification with Eigen.
+-if(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+-	if(MSVC AND ${MSVC_VERSION} GREATER_EQUAL 1915)
+-	  add_definitions( "-D_ENABLE_EXTENDED_ALIGNED_STORAGE" )
+-	endif()
++if((${CMAKE_SYSTEM_NAME} MATCHES "Windows" AND MSVC AND "${MSVC_VERSION}" GREATER_EQUAL 1915) OR NOT CH_USE_EIGEN_OPENMP)
++    target_compile_definitions(Eigen3::Eigen INTERFACE "_ENABLE_EXTENDED_ALIGNED_STORAGE")
+ endif()
+ 
+ cmake_dependent_option(USE_EIGEN_OPENMP "Compile Chrono with OpenMP support in Eigen" ON "ENABLE_OPENMP" OFF)
+@@ -293,7 +299,7 @@ endif()
+ #-----------------------------------------------------------------------------
+ 
+ message(STATUS "Searching for MPI...")
+-find_package(MPI)
++# find_package(MPI)
+ if(MPI_FOUND)
+   message(STATUS "  MPI compiler:      ${MPI_CXX_COMPILER}")
+   message(STATUS "  MPI compile flags: ${MPI_CXX_COMPILE_FLAGS}")
+@@ -313,7 +319,7 @@ endif()
+ 
+ message(STATUS "Searching for CUDA...")
+ 
+-find_package(CUDA QUIET)
++# find_package(CUDA)
+ 
+ if(CUDA_FOUND)
+   set(CUDA_BINARY_DIR "${CUDA_TOOLKIT_ROOT_DIR}/bin")
+@@ -383,7 +389,7 @@ if (${CMAKE_SYSTEM_NAME} MATCHES "FreeBSD")
+     set(${THRUST_FOUND} FALSE)
+   endif()
+ else()
+-  find_package(Thrust)
++#  find_package(Thrust)
+ endif()
+ 
+ if(THRUST_FOUND)
+@@ -500,14 +506,14 @@ if(ENABLE_HDF5)
+     #    HDF5_INCLUDE_DIRS
+     #    HDF5_C_LIBRARIES
+     #    HDF5_CXX_LIBRARIES
+-    find_package(HDF5 COMPONENTS CXX)
++    find_package(HDF5 COMPONENTS CXX REQUIRED)
+ 
+     if(NOT HDF5_FOUND)
+         # Look for a package configuration file
+         # LIB_TYPE can be one of STATIC or SHARED.
+         set(LIB_TYPE SHARED) # STATIC or SHARED
+         string(TOLOWER ${LIB_TYPE} SEARCH_TYPE)
+-        find_package(HDF5 NAMES hdf5 COMPONENTS CXX ${SEARCH_TYPE})
++        find_package(HDF5 NAMES hdf5 COMPONENTS CXX ${SEARCH_TYPE} REQUIRED)
+ 
+         if (HDF5_FOUND)
+             set(HDF5_INCLUDE_DIRS ${HDF5_INCLUDE_DIR})
+diff --git a/src/chrono/CMakeLists.txt b/src/chrono/CMakeLists.txt
+index 88f970f..917452c 100644
+--- a/src/chrono/CMakeLists.txt
++++ b/src/chrono/CMakeLists.txt
+@@ -1405,9 +1405,9 @@ endif()
+ # Add the ChronoEngine library to the project
+ add_library(ChronoEngine SHARED ${ChronoEngine_FILES})
+ 
+-target_link_libraries(ChronoEngine ${OPENMP_LIBRARIES} ${CH_SOCKET_LIB})
++target_link_libraries(ChronoEngine ${OPENMP_LIBRARIES} ${CH_SOCKET_LIB} TBB::tbb TBB::tbbmalloc)
+ if (UNIX)
+-  target_link_libraries(ChronoEngine pthread)
++  target_link_libraries(ChronoEngine pthread TBB::tbb TBB::tbbmalloc)
+ endif()
+ 
+ # Set some custom properties of this target
+diff --git a/src/chrono_cascade/CMakeLists.txt b/src/chrono_cascade/CMakeLists.txt
+index 3d38c87..f9558ba 100644
+--- a/src/chrono_cascade/CMakeLists.txt
++++ b/src/chrono_cascade/CMakeLists.txt
+@@ -50,7 +50,7 @@ source_group("" FILES
+ #-----------------------------------------------------------------------------	
+ # Find OpenCASCADE
+ 
+-find_package(OpenCASCADE CONFIG)
++find_package(OpenCASCADE CONFIG REQUIRED)
+ 
+ if (NOT OpenCASCADE_FOUND)
+   message("Could not find OpenCASCADE or one of its required modules")
+diff --git a/src/chrono_irrlicht/CMakeLists.txt b/src/chrono_irrlicht/CMakeLists.txt
+index acffe0c..bc0e938 100644
+--- a/src/chrono_irrlicht/CMakeLists.txt
++++ b/src/chrono_irrlicht/CMakeLists.txt
+@@ -54,7 +54,7 @@ SOURCE_GROUP("" FILES
+ 
+ set(CH_IRRLICHT_CXX_FLAGS "")
+ set(CH_IRRLICHT_C_FLAGS "")
+-
++if(0)
+ IF(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+   SET(IRRLICHT_ROOT "C:/irrlicht-1.8.1"  CACHE PATH   "Path to Irrlicht SDK installation.")
+   IF("${CH_COMPILER}" STREQUAL "COMPILER_MSVC")
+@@ -84,7 +84,8 @@ else()
+   FIND_LIBRARY(IRRLICHT_LIBRARY NAMES Irrlicht PATHS ${IRRLICHT_ROOT}/../../lib)
+   set(IRRLICHT_LIBRARY "${IRRLICHT_LIBRARY}")
+ ENDIF()
+-
++endif()
++find_package(irrlicht REQUIRED)
+ # If using MSVC, disable warning 4275 (non-DLL-interface class used as base for DLL-interface class)
+ if(MSVC)
+   add_compile_options(/wd4275)
+@@ -93,7 +94,7 @@ if(MSVC)
+ endif()
+ 
+ # Add path to IRRLICHT headers
+-
++if(0)
+ IF(EXISTS "${IRRLICHT_ROOT}/include/irrlicht")
+   SET(CH_IRRLICHTINC "${IRRLICHT_ROOT}/include/irrlicht")
+ ELSEIF(EXISTS "${IRRLICHT_ROOT}/include")
+@@ -103,7 +104,7 @@ ELSE()
+ ENDIF()
+ 
+ INCLUDE_DIRECTORIES( ${CH_IRRLICHTINC} )
+-
++endif(0)
+ 
+ # Let some variables be visible also from outside this directory
+ 
+@@ -119,7 +120,7 @@ set(COMPILER_FLAGS "${CH_CXX_FLAGS} ${CH_IRRLICHT_CXX_FLAGS}")
+ set(LINKER_FLAGS "${CH_LINKERFLAG_SHARED}")
+ set(LIBRARIES 
+     ChronoEngine
+-    ${IRRLICHT_LIBRARY}
++    Irrlicht
+     )
+ 
+ if (ENABLE_MODULE_POSTPROCESS)
+@@ -168,7 +169,7 @@ endif()
+ # appropriate directory (depending on the build type); however, we use
+ # copy_if_different.
+ 
+-IF(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
++IF(0)
+ 
+   IF(DEFINED ENV{CONDA_BUILD})
+     SET(CH_IRRLICHT_DLL "$ENV{PREFIX}/Library/bin/Irrlicht.dll")
+diff --git a/src/chrono_mumps/CMakeLists.txt b/src/chrono_mumps/CMakeLists.txt
+index d856460..a2e1ea2 100644
+--- a/src/chrono_mumps/CMakeLists.txt
++++ b/src/chrono_mumps/CMakeLists.txt
+@@ -88,7 +88,7 @@ unset(BLAS_FOUND)
+ unset(BLAS_LIBRARIES)
+ message(STATUS "Searching for BLAS...")
+ 
+-find_package(BLAS)
++find_package(BLAS REQUIRED)
+ 
+ set(CMAKE_LIBRARY_PATH ${CMAKE_LIBRARY_PATH_BKP}) # restore original CMAKE_LIBRARY_PATH
+ 
+diff --git a/src/chrono_mumps/building_Mumps/CMakeLists_5.0.2.txt b/src/chrono_mumps/building_Mumps/CMakeLists_5.0.2.txt
+index e179a68..5a6852e 100644
+--- a/src/chrono_mumps/building_Mumps/CMakeLists_5.0.2.txt
++++ b/src/chrono_mumps/building_Mumps/CMakeLists_5.0.2.txt
+@@ -78,7 +78,7 @@ endif()
+ SET(CMAKE_LIBRARY_PATH ${CMAKE_LIBRARY_PATH} ${BLAS_LIBRARIES_USER} ${INTEL_LIBRARIES_DIRS} )
+ 
+ 
+-find_package(BLAS)
++find_package(BLAS REQUIRED)
+ SET(CMAKE_LIBRARY_PATH ${CMAKE_LIBRARY_PATH_BKP}) # restore original CMAKE_LIBRARY_PATH
+ 
+ if (NOT BLAS_FOUND)
+@@ -101,7 +101,7 @@ SET(GENERIC_COMPILER_FLAGS_C #aka OPTC
+ 			"-MD")
+ 			
+ 
+-find_package(OpenMP)
++find_package(OpenMP REQUIRED)
+ if (ENABLE_OPENMP AND OPENMP_FOUND)
+ 	SET(GENERIC_COMPILER_FLAGS_FORTRAN "${GENERIC_COMPILER_FLAGS_FORTRAN} ${OpenMP_Fortran_FLAGS}")
+ 	SET(GENERIC_COMPILER_FLAGS_C "${GENERIC_COMPILER_FLAGS_C} ${OpenMP_C_FLAGS}")
+diff --git a/src/chrono_mumps/building_Mumps/CMakeLists_5.1.1.txt b/src/chrono_mumps/building_Mumps/CMakeLists_5.1.1.txt
+index 1c3a3b3..115d337 100644
+--- a/src/chrono_mumps/building_Mumps/CMakeLists_5.1.1.txt
++++ b/src/chrono_mumps/building_Mumps/CMakeLists_5.1.1.txt
+@@ -78,7 +78,7 @@ endif()
+ SET(CMAKE_LIBRARY_PATH ${CMAKE_LIBRARY_PATH} ${BLAS_LIBRARIES_USER} ${INTEL_LIBRARIES_DIRS} )
+ 
+ # Looking for valid BLAS libraries
+-find_package(BLAS)
++find_package(BLAS REQUIRED)
+ SET(CMAKE_LIBRARY_PATH ${CMAKE_LIBRARY_PATH_BKP}) # restore original CMAKE_LIBRARY_PATH
+ 
+ if (NOT BLAS_FOUND)
+@@ -121,7 +121,7 @@ SET(GENERIC_COMPILER_FLAGS_C #aka OPTC
+ 			"-MD")
+ 			
+ 
+-find_package(OpenMP)
++find_package(OpenMP REQUIRED)
+ if (ENABLE_OPENMP AND OPENMP_FOUND)
+ 	SET(GENERIC_COMPILER_FLAGS_FORTRAN "${GENERIC_COMPILER_FLAGS_FORTRAN} ${OpenMP_Fortran_FLAGS}")
+ 	SET(GENERIC_COMPILER_FLAGS_C "${GENERIC_COMPILER_FLAGS_C} ${OpenMP_C_FLAGS}")
+diff --git a/src/chrono_opengl/CMakeLists.txt b/src/chrono_opengl/CMakeLists.txt
+index a7b60f1..9b76134 100644
+--- a/src/chrono_opengl/CMakeLists.txt
++++ b/src/chrono_opengl/CMakeLists.txt
+@@ -41,10 +41,10 @@ endif()
+ 
+ cmake_policy(SET CMP0072 NEW)
+ 
+-find_package(OpenGL)
+-find_package(GLM)
+-find_package(GLEW)
+-find_package(GLFW)
++find_package(OpenGL REQUIRED)
++find_package(GLM REQUIRED)
++find_package(GLEW REQUIRED)
++find_package(GLFW REQUIRED)
+ 
+ # On windows, ask for the GLEW and GLFW DLLs so that we can copy. This is
+ # optional.  If not specified, it is the user's responsibility to make them
+diff --git a/src/chrono_pardisomkl/CMakeLists.txt b/src/chrono_pardisomkl/CMakeLists.txt
+index 8c35c5d..8313af4 100644
+--- a/src/chrono_pardisomkl/CMakeLists.txt
++++ b/src/chrono_pardisomkl/CMakeLists.txt
+@@ -27,7 +27,7 @@ message(STATUS "Find MKL libraries")
+ 
+ #set(MKL_USE_STATIC_LIBS ON)
+ #set(MKL_FIND_DEBUG ON)
+-find_package(MKL)
++find_package(MKL REQUIRED)
+ 
+ message(STATUS "   MKL include dirs:   ${MKL_INCLUDE_DIRS}")
+ message(STATUS "   MKL libraries:      ${MKL_LIBRARIES}")
+diff --git a/src/chrono_sensor/CMakeLists.txt b/src/chrono_sensor/CMakeLists.txt
+index 2b4102d..14c2f15 100644
+--- a/src/chrono_sensor/CMakeLists.txt
++++ b/src/chrono_sensor/CMakeLists.txt
+@@ -29,9 +29,9 @@ if(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+   mark_as_advanced(CLEAR GLFW_DLL)
+ endif()
+ 
+-find_package(GLFW OPTIONAL_COMPONENTS)
+-find_package(OpenGL OPTIONAL_COMPONENTS)
+-find_package(GLEW OPTIONAL_COMPONENTS)
++find_package(GLFW REQUIRED)
++find_package(OpenGL REQUIRED)
++find_package(GLEW REQUIRED)
+ 
+ message(STATUS "OpenGL libraries: ${OPENGL_LIBRARIES}")
+ message(STATUS "GLEW libraries:   ${GLEW_LIBRARY}")

ports/chronoengine/find_package_required.patch

@@ -1,296 +0,0 @@
-diff --git a/cmake/FindBLAS.cmake b/cmake/FindBLAS.cmake
-index 6a8f0f9e1..c44f92eb4 100644
---- a/cmake/FindBLAS.cmake
-+++ b/cmake/FindBLAS.cmake
-@@ -487,7 +487,7 @@ if (BLA_VENDOR MATCHES "Intel" OR BLA_VENDOR STREQUAL "All")
-  endif ()
-  if (CMAKE_C_COMPILER_LOADED OR CMAKE_CXX_COMPILER_LOADED)
-   if(BLAS_FIND_QUIETLY OR NOT BLAS_FIND_REQUIRED)
--    find_package(Threads)
-+    find_package(Threads REQUIRED)
-   else()
-     find_package(Threads REQUIRED)
-   endif()
-diff --git a/cmake/FindEigen3.cmake b/cmake/FindEigen3.cmake
-index 0d2b3cedd..02c2b50d2 100644
---- a/cmake/FindEigen3.cmake
-+++ b/cmake/FindEigen3.cmake
-@@ -1,7 +1,7 @@
- # - Try to find Eigen3 lib
- #
- # This module supports requiring a minimum version, e.g. you can do
--#   find_package(Eigen3 3.1.2)
-+#   find_package(Eigen3 3.1.2 REQUIRED)
- # to require version 3.1.2 or newer of Eigen3.
- #
- # Once done this will define
-@@ -70,7 +70,7 @@ else (EIGEN3_INCLUDE_DIR)
-   # search first if an Eigen3Config.cmake is available in the system,
-   # if successful this would set EIGEN3_INCLUDE_DIR and the rest of
-   # the script will work as usual
--  find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE QUIET)
-+  find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE REQUIRED)
- 
-   if(NOT EIGEN3_INCLUDE_DIR)
-     find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
-diff --git a/cmake/FindMKL.cmake b/cmake/FindMKL.cmake
-index 6f8a2740f..acf43af4d 100644
---- a/cmake/FindMKL.cmake
-+++ b/cmake/FindMKL.cmake
-@@ -7,7 +7,7 @@
- #
- # Usage example:
- #   set(MKL_USE_STATIC_LIBS ON)
--#   find_package(MKL)
-+#   find_package(MKL REQUIRED)
- #   if (MKL_FOUND)
- #      include_directories(${MKL_INCLUDE_DIRS})
- #      link_directories(${MKL_LIBRARY_DIRS})
-diff --git a/cmake/FindMyGUI.cmake b/cmake/FindMyGUI.cmake
-index b5563c801..2fc991246 100644
---- a/cmake/FindMyGUI.cmake
-+++ b/cmake/FindMyGUI.cmake
-@@ -81,7 +81,7 @@ IF (WIN32) #Windows
-     ENDIF (OGRESOURCE)
- ELSE (WIN32) #Unix
-     CMAKE_MINIMUM_REQUIRED(VERSION 2.4.7 FATAL_ERROR)
--    FIND_PACKAGE(PkgConfig)
-+    find_package(PkgConfig REQUIRED)
-     IF(MYGUI_STATIC)
-         # don't use pkgconfig on OS X, find freetype & append it's libs to resulting MYGUI_LIBRARIES
-         IF (NOT APPLE)
-@@ -101,7 +101,7 @@ ELSE (WIN32) #Unix
-             ENDIF (MYGUI_INCLUDE_DIRS)
-         ELSE (NOT APPLE)
-             SET(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ${MYGUI_DEPENDENCIES_DIR} ${OGRE_DEPENDENCIES_DIR})
--            FIND_PACKAGE(freetype)
-+            find_package(freetype REQUIRED)
-             FIND_PATH(MYGUI_INCLUDE_DIRS MyGUI.h PATHS /usr/local/include /usr/include PATH_SUFFIXES MyGUI MYGUI)
-             FIND_LIBRARY(MYGUI_LIBRARIES MyGUIEngineStatic PATHS /usr/lib /usr/local/lib)
-             SET(MYGUI_PLATFORM_LIBRARIES "MyGUI.OgrePlatform")
-diff --git a/cmake/FindOgre.cmake b/cmake/FindOgre.cmake
-index 9e2081a0c..950ba0185 100644
---- a/cmake/FindOgre.cmake
-+++ b/cmake/FindOgre.cmake
-@@ -262,17 +262,17 @@ endif ()
- # look for required Ogre dependencies in case of static build and/or threading
- if (OGRE_STATIC)
-   set(OGRE_DEPS_FOUND TRUE)
--  find_package(Cg QUIET)
--  find_package(DirectX QUIET)
--  find_package(FreeImage QUIET)
--  find_package(Freetype QUIET)
--  find_package(OpenGL QUIET)
--  find_package(OpenGLES QUIET)
--  find_package(OpenGLES2 QUIET)
--  find_package(ZLIB QUIET)
--  find_package(ZZip QUIET)
-+  find_package(Cg REQUIRED)
-+  find_package(DirectX REQUIRED)
-+  find_package(FreeImage REQUIRED)
-+  find_package(Freetype REQUIRED)
-+  find_package(OpenGL REQUIRED)
-+  find_package(OpenGLES REQUIRED)
-+  find_package(OpenGLES2 REQUIRED)
-+  find_package(ZLIB REQUIRED)
-+  find_package(ZZip REQUIRED)
-   if (UNIX AND NOT APPLE AND NOT ANDROID)
--    find_package(X11 QUIET)
-+    find_package(X11 REQUIRED)
-     find_library(XAW_LIBRARY NAMES Xaw Xaw7 PATHS ${DEP_LIB_SEARCH_DIR} ${X11_LIB_SEARCH_PATH})
-     if (NOT XAW_LIBRARY OR NOT X11_Xt_FOUND)
-       set(X11_FOUND FALSE)
-@@ -310,7 +310,7 @@ endif()
-       endif()
-       
-       set(OGRE_BOOST_COMPONENTS thread date_time)
--      find_package(Boost COMPONENTS ${OGRE_BOOST_COMPONENTS} QUIET)
-+      find_package(Boost COMPONENTS ${OGRE_BOOST_COMPONENTS} REQUIRED)
-       if(Boost_FOUND AND Boost_VERSION GREATER 104900)
-         if(Boost_VERSION GREATER 105300)
-             set(OGRE_BOOST_COMPONENTS thread date_time system atomic chrono)
-@@ -319,7 +319,7 @@ endif()
-         endif()
-       endif()
- 
--      find_package(Boost COMPONENTS ${OGRE_BOOST_COMPONENTS} QUIET)
-+      find_package(Boost COMPONENTS ${OGRE_BOOST_COMPONENTS} REQUIRED)
-       if (NOT Boost_THREAD_FOUND)
-         set(OGRE_DEPS_FOUND FALSE)
-       else ()
-@@ -327,7 +327,7 @@ endif()
-         set(OGRE_INCLUDE_DIRS ${OGRE_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
-       endif ()
-     elseif (OGRE_CONFIG_THREAD_PROVIDER EQUAL 2)
--      find_package(POCO QUIET)
-+      find_package(POCO REQUIRED)
-       if (NOT POCO_FOUND)
-         set(OGRE_DEPS_FOUND FALSE)
-       else ()
-@@ -335,7 +335,7 @@ endif()
-         set(OGRE_INCLUDE_DIRS ${OGRE_INCLUDE_DIRS} ${POCO_INCLUDE_DIRS})
-       endif ()
-     elseif (OGRE_CONFIG_THREAD_PROVIDER EQUAL 3)
--      find_package(TBB QUIET)
-+      find_package(TBB REQUIRED)
-       if (NOT TBB_FOUND)
-         set(OGRE_DEPS_FOUND FALSE)
-       else ()
-diff --git a/cmake/FindPkgMacros.cmake b/cmake/FindPkgMacros.cmake
-index 53111e074..2f6881c61 100644
---- a/cmake/FindPkgMacros.cmake
-+++ b/cmake/FindPkgMacros.cmake
-@@ -70,7 +70,7 @@ endmacro(clear_if_changed)
- # Try to get some hints from pkg-config, if available
- macro(use_pkgconfig PREFIX PKGNAME)
-   if(NOT ANDROID)
--    find_package(PkgConfig)
-+    find_package(PkgConfig REQUIRED)
-     if (PKG_CONFIG_FOUND)
-       pkg_check_modules(${PREFIX} ${PKGNAME})
-     endif ()
-diff --git a/cmake/FindSDL2.cmake b/cmake/FindSDL2.cmake
-index 4b8f7e915..e27895a2f 100644
---- a/cmake/FindSDL2.cmake
-+++ b/cmake/FindSDL2.cmake
-@@ -112,7 +112,7 @@ ENDIF(NOT SDL2_BUILDING_LIBRARY)
- # frameworks may already provide it.
- # But for non-OSX systems, I will use the CMake Threads package.
- IF(NOT APPLE)
--	FIND_PACKAGE(Threads)
-+	find_package(Threads REQUIRED)
- ENDIF(NOT APPLE)
- 
- # MinGW needs an additional library, mwindows
-diff --git a/cmake/GetGitRevisionDescription.cmake b/cmake/GetGitRevisionDescription.cmake
-index 319f307a9..68ec2dad7 100644
---- a/cmake/GetGitRevisionDescription.cmake
-+++ b/cmake/GetGitRevisionDescription.cmake
-@@ -82,7 +82,7 @@ endfunction()
- 
- function(git_describe _var)
- 	if(NOT GIT_FOUND)
--		find_package(Git QUIET)
-+		find_package(Git REQUIRED)
- 	endif()
- 	get_git_head_revision(refspec hash)
- 	if(NOT GIT_FOUND)
-diff --git a/src/chrono_cascade/CMakeLists.txt b/src/chrono_cascade/CMakeLists.txt
-index 3d38c8707..f9558baf8 100644
---- a/src/chrono_cascade/CMakeLists.txt
-+++ b/src/chrono_cascade/CMakeLists.txt
-@@ -50,7 +50,7 @@ source_group("" FILES
- #-----------------------------------------------------------------------------	
- # Find OpenCASCADE
- 
--find_package(OpenCASCADE CONFIG)
-+find_package(OpenCASCADE CONFIG REQUIRED)
- 
- if (NOT OpenCASCADE_FOUND)
-   message("Could not find OpenCASCADE or one of its required modules")
-diff --git a/src/chrono_mumps/CMakeLists.txt b/src/chrono_mumps/CMakeLists.txt
-index d8564600b..a2e1ea207 100644
---- a/src/chrono_mumps/CMakeLists.txt
-+++ b/src/chrono_mumps/CMakeLists.txt
-@@ -88,7 +88,7 @@ unset(BLAS_FOUND)
- unset(BLAS_LIBRARIES)
- message(STATUS "Searching for BLAS...")
- 
--find_package(BLAS)
-+find_package(BLAS REQUIRED)
- 
- set(CMAKE_LIBRARY_PATH ${CMAKE_LIBRARY_PATH_BKP}) # restore original CMAKE_LIBRARY_PATH
- 
-diff --git a/src/chrono_mumps/building_Mumps/CMakeLists_5.0.2.txt b/src/chrono_mumps/building_Mumps/CMakeLists_5.0.2.txt
-index e179a6841..5a6852e4b 100644
---- a/src/chrono_mumps/building_Mumps/CMakeLists_5.0.2.txt
-+++ b/src/chrono_mumps/building_Mumps/CMakeLists_5.0.2.txt
-@@ -78,7 +78,7 @@ endif()
- SET(CMAKE_LIBRARY_PATH ${CMAKE_LIBRARY_PATH} ${BLAS_LIBRARIES_USER} ${INTEL_LIBRARIES_DIRS} )
- 
- 
--find_package(BLAS)
-+find_package(BLAS REQUIRED)
- SET(CMAKE_LIBRARY_PATH ${CMAKE_LIBRARY_PATH_BKP}) # restore original CMAKE_LIBRARY_PATH
- 
- if (NOT BLAS_FOUND)
-@@ -101,7 +101,7 @@ SET(GENERIC_COMPILER_FLAGS_C #aka OPTC
- 			"-MD")
- 			
- 
--find_package(OpenMP)
-+find_package(OpenMP REQUIRED)
- if (ENABLE_OPENMP AND OPENMP_FOUND)
- 	SET(GENERIC_COMPILER_FLAGS_FORTRAN "${GENERIC_COMPILER_FLAGS_FORTRAN} ${OpenMP_Fortran_FLAGS}")
- 	SET(GENERIC_COMPILER_FLAGS_C "${GENERIC_COMPILER_FLAGS_C} ${OpenMP_C_FLAGS}")
-diff --git a/src/chrono_mumps/building_Mumps/CMakeLists_5.1.1.txt b/src/chrono_mumps/building_Mumps/CMakeLists_5.1.1.txt
-index 1c3a3b3bb..115d3372e 100644
---- a/src/chrono_mumps/building_Mumps/CMakeLists_5.1.1.txt
-+++ b/src/chrono_mumps/building_Mumps/CMakeLists_5.1.1.txt
-@@ -78,7 +78,7 @@ endif()
- SET(CMAKE_LIBRARY_PATH ${CMAKE_LIBRARY_PATH} ${BLAS_LIBRARIES_USER} ${INTEL_LIBRARIES_DIRS} )
- 
- # Looking for valid BLAS libraries
--find_package(BLAS)
-+find_package(BLAS REQUIRED)
- SET(CMAKE_LIBRARY_PATH ${CMAKE_LIBRARY_PATH_BKP}) # restore original CMAKE_LIBRARY_PATH
- 
- if (NOT BLAS_FOUND)
-@@ -121,7 +121,7 @@ SET(GENERIC_COMPILER_FLAGS_C #aka OPTC
- 			"-MD")
- 			
- 
--find_package(OpenMP)
-+find_package(OpenMP REQUIRED)
- if (ENABLE_OPENMP AND OPENMP_FOUND)
- 	SET(GENERIC_COMPILER_FLAGS_FORTRAN "${GENERIC_COMPILER_FLAGS_FORTRAN} ${OpenMP_Fortran_FLAGS}")
- 	SET(GENERIC_COMPILER_FLAGS_C "${GENERIC_COMPILER_FLAGS_C} ${OpenMP_C_FLAGS}")
-diff --git a/src/chrono_opengl/CMakeLists.txt b/src/chrono_opengl/CMakeLists.txt
-index a7b60f13d..9b76134fa 100644
---- a/src/chrono_opengl/CMakeLists.txt
-+++ b/src/chrono_opengl/CMakeLists.txt
-@@ -41,10 +41,10 @@ endif()
- 
- cmake_policy(SET CMP0072 NEW)
- 
--find_package(OpenGL)
--find_package(GLM)
--find_package(GLEW)
--find_package(GLFW)
-+find_package(OpenGL REQUIRED)
-+find_package(GLM REQUIRED)
-+find_package(GLEW REQUIRED)
-+find_package(GLFW REQUIRED)
- 
- # On windows, ask for the GLEW and GLFW DLLs so that we can copy. This is
- # optional.  If not specified, it is the user's responsibility to make them
-diff --git a/src/chrono_pardisomkl/CMakeLists.txt b/src/chrono_pardisomkl/CMakeLists.txt
-index 8c35c5d70..8313af46e 100644
---- a/src/chrono_pardisomkl/CMakeLists.txt
-+++ b/src/chrono_pardisomkl/CMakeLists.txt
-@@ -27,7 +27,7 @@ message(STATUS "Find MKL libraries")
- 
- #set(MKL_USE_STATIC_LIBS ON)
- #set(MKL_FIND_DEBUG ON)
--find_package(MKL)
-+find_package(MKL REQUIRED)
- 
- message(STATUS "   MKL include dirs:   ${MKL_INCLUDE_DIRS}")
- message(STATUS "   MKL libraries:      ${MKL_LIBRARIES}")
-diff --git a/src/chrono_sensor/CMakeLists.txt b/src/chrono_sensor/CMakeLists.txt
-index 2b4102d5b..14c2f15e9 100644
---- a/src/chrono_sensor/CMakeLists.txt
-+++ b/src/chrono_sensor/CMakeLists.txt
-@@ -29,9 +29,9 @@ if(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
-   mark_as_advanced(CLEAR GLFW_DLL)
- endif()
- 
--find_package(GLFW OPTIONAL_COMPONENTS)
--find_package(OpenGL OPTIONAL_COMPONENTS)
--find_package(GLEW OPTIONAL_COMPONENTS)
-+find_package(GLFW REQUIRED)
-+find_package(OpenGL REQUIRED)
-+find_package(GLEW REQUIRED)
- 
- message(STATUS "OpenGL libraries: ${OPENGL_LIBRARIES}")
- message(STATUS "GLEW libraries:   ${GLEW_LIBRARY}")

ports/chronoengine/fix_dependencies.patch

@@ -1,180 +0,0 @@
-diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
-index d75ce1055..a21acbd83 100644
---- a/src/CMakeLists.txt
-+++ b/src/CMakeLists.txt
-@@ -96,7 +96,7 @@ endif()
- 
- message(STATUS "Searching for Threads...")
- set(THREADS_PREFER_PTHREAD_FLAG TRUE)
--find_package(Threads)
-+find_package(Threads REQUIRED)
- 
- message(STATUS "  Thread library:      ${CMAKE_THREAD_LIBS_INIT}")
- message(STATUS "  Using Win32 threads? ${CMAKE_USE_WIN32_THREADS_INIT}")
-@@ -112,8 +112,9 @@ set(CH_C_FLAGS "${CH_C_FLAGS} ${CMAKE_THREAD_LIBS_INIT}")
- # main ChronoEngine library, regardless on whether or not OpenMP is found.
- 
- message(STATUS "Searching for OpenMP...")
--find_package(OpenMP)
--
-+if(0)
-+find_package(OpenMP REQUIRED)
-+endif()
- # Determine OpenMP version. Prepare substitution variables that can be used in
- # generating configuration header files.
- 
-@@ -177,7 +178,7 @@ if(USE_SIMD)
- 	
-    # Figure out SIMD support
-    message(STATUS "Testing SIMD capabilities...")
--   find_package(SIMD)
-+   find_package(SIMD REQUIRED)
-    
-    # Set substitution variables for configuration file
-    if(SIMD_SSE)
-@@ -250,7 +251,7 @@ endif()
- #-----------------------------------------------------------------------------
- 
- message(STATUS "Searching for Eigen3...")
--find_package(Eigen3 3.3.0)
-+find_package(Eigen3 3.3.0 REQUIRED)
- if(EIGEN3_FOUND)
-   message(STATUS "  Eigen3 version: ${EIGEN3_VERSION}")
-   message(STATUS "  Eigen3 include directory: ${EIGEN3_INCLUDE_DIR}")
-@@ -293,7 +294,9 @@ endif()
- #-----------------------------------------------------------------------------
- 
- message(STATUS "Searching for MPI...")
--find_package(MPI)
-+if(0)
-+find_package(MPI REQUIRED)
-+endif()
- if(MPI_FOUND)
-   message(STATUS "  MPI compiler:      ${MPI_CXX_COMPILER}")
-   message(STATUS "  MPI compile flags: ${MPI_CXX_COMPILE_FLAGS}")
-@@ -312,9 +315,9 @@ endif()
- #-----------------------------------------------------------------------------
- 
- message(STATUS "Searching for CUDA...")
--
--find_package(CUDA QUIET)
--
-+if(0)
-+find_package(CUDA REQUIRED)
-+endif()
- if(CUDA_FOUND)
-   set(CUDA_BINARY_DIR "${CUDA_TOOLKIT_ROOT_DIR}/bin")
- 
-@@ -373,7 +376,7 @@ endif()
- #-----------------------------------------------------------------------------
- 
- message(STATUS "Searching for Thrust...")
--
-+if(0)
- if (${CMAKE_SYSTEM_NAME} MATCHES "FreeBSD")
-   find_path(THRUST_INCLUDE_DIR NAMES thrust/version.h PATHS "/usr/local" "/usr/local/include")
-   if (THRUST_INCLUDE_DIR)
-@@ -383,9 +386,9 @@ if (${CMAKE_SYSTEM_NAME} MATCHES "FreeBSD")
-     set(${THRUST_FOUND} FALSE)
-   endif()
- else()
--  find_package(Thrust)
-+  find_package(Thrust REQUIRED)
-+endif()
- endif()
--
- if(THRUST_FOUND)
-   message(STATUS "  Thrust version:     ${THRUST_VERSION}")
-   message(STATUS "  Thrust include dir: ${THRUST_INCLUDE_DIR}")
-@@ -500,14 +503,14 @@ if(ENABLE_HDF5)
-     #    HDF5_INCLUDE_DIRS
-     #    HDF5_C_LIBRARIES
-     #    HDF5_CXX_LIBRARIES
--    find_package(HDF5 COMPONENTS CXX)
-+    find_package(HDF5 COMPONENTS CXX REQUIRED)
- 
-     if(NOT HDF5_FOUND)
-         # Look for a package configuration file
-         # LIB_TYPE can be one of STATIC or SHARED.
-         set(LIB_TYPE SHARED) # STATIC or SHARED
-         string(TOLOWER ${LIB_TYPE} SEARCH_TYPE)
--        find_package(HDF5 NAMES hdf5 COMPONENTS CXX ${SEARCH_TYPE})
-+        find_package(HDF5 NAMES hdf5 COMPONENTS CXX ${SEARCH_TYPE} REQUIRED)
- 
-         if (HDF5_FOUND)
-             set(HDF5_INCLUDE_DIRS ${HDF5_INCLUDE_DIR})
-diff --git a/src/chrono/CMakeLists.txt b/src/chrono/CMakeLists.txt
-index 88f970fca..917452c4e 100644
---- a/src/chrono/CMakeLists.txt
-+++ b/src/chrono/CMakeLists.txt
-@@ -1405,9 +1405,9 @@ endif()
- # Add the ChronoEngine library to the project
- add_library(ChronoEngine SHARED ${ChronoEngine_FILES})
- 
--target_link_libraries(ChronoEngine ${OPENMP_LIBRARIES} ${CH_SOCKET_LIB})
-+target_link_libraries(ChronoEngine ${OPENMP_LIBRARIES} ${CH_SOCKET_LIB} TBB::tbb TBB::tbbmalloc)
- if (UNIX)
--  target_link_libraries(ChronoEngine pthread)
-+  target_link_libraries(ChronoEngine pthread TBB::tbb TBB::tbbmalloc)
- endif()
- 
- # Set some custom properties of this target
-diff --git a/src/chrono_irrlicht/CMakeLists.txt b/src/chrono_irrlicht/CMakeLists.txt
-index acffe0cb6..bc0e938bc 100644
---- a/src/chrono_irrlicht/CMakeLists.txt
-+++ b/src/chrono_irrlicht/CMakeLists.txt
-@@ -54,7 +54,7 @@ SOURCE_GROUP("" FILES
- 
- set(CH_IRRLICHT_CXX_FLAGS "")
- set(CH_IRRLICHT_C_FLAGS "")
--
-+if(0)
- IF(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
-   SET(IRRLICHT_ROOT "C:/irrlicht-1.8.1"  CACHE PATH   "Path to Irrlicht SDK installation.")
-   IF("${CH_COMPILER}" STREQUAL "COMPILER_MSVC")
-@@ -84,7 +84,8 @@ else()
-   FIND_LIBRARY(IRRLICHT_LIBRARY NAMES Irrlicht PATHS ${IRRLICHT_ROOT}/../../lib)
-   set(IRRLICHT_LIBRARY "${IRRLICHT_LIBRARY}")
- ENDIF()
--
-+endif()
-+find_package(irrlicht REQUIRED)
- # If using MSVC, disable warning 4275 (non-DLL-interface class used as base for DLL-interface class)
- if(MSVC)
-   add_compile_options(/wd4275)
-@@ -93,7 +94,7 @@ if(MSVC)
- endif()
- 
- # Add path to IRRLICHT headers
--
-+if(0)
- IF(EXISTS "${IRRLICHT_ROOT}/include/irrlicht")
-   SET(CH_IRRLICHTINC "${IRRLICHT_ROOT}/include/irrlicht")
- ELSEIF(EXISTS "${IRRLICHT_ROOT}/include")
-@@ -103,7 +104,7 @@ ELSE()
- ENDIF()
- 
- INCLUDE_DIRECTORIES( ${CH_IRRLICHTINC} )
--
-+endif(0)
- 
- # Let some variables be visible also from outside this directory
- 
-@@ -119,7 +120,7 @@ set(COMPILER_FLAGS "${CH_CXX_FLAGS} ${CH_IRRLICHT_CXX_FLAGS}")
- set(LINKER_FLAGS "${CH_LINKERFLAG_SHARED}")
- set(LIBRARIES 
-     ChronoEngine
--    ${IRRLICHT_LIBRARY}
-+    Irrlicht
-     )
- 
- if (ENABLE_MODULE_POSTPROCESS)
-@@ -168,7 +169,7 @@ endif()
- # appropriate directory (depending on the build type); however, we use
- # copy_if_different.
- 
--IF(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
-+IF(0)
- 
-   IF(DEFINED ENV{CONDA_BUILD})
-     SET(CH_IRRLICHT_DLL "$ENV{PREFIX}/Library/bin/Irrlicht.dll")

ports/chronoengine/portfile.cmake

@@ -4,8 +4,7 @@ vcpkg_from_github(
     REF ${VERSION}
     SHA512 379609b5a968b56faf48d2e848b0bb85d95f266a4fea48d457f2242fad580fee88ae5974e1021e31e56ebdb7a49fcddba681eff4d56605c94fbe30032dc5906c
     PATCHES
-        fix_dependencies.patch
+        0001-dependencies.patch
-        find_package_required.patch
 )
 
 file(REMOVE "${SOURCE_PATH}/cmake/FindTBB.cmake")

ports/chronoengine/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "chronoengine",
   "version": "8.0.0",
-  "port-version": 1,
+  "port-version": 2,
   "description": "Multi-physics Simulation Engine.",
   "homepage": "https://projectchrono.org/",
   "license": "BSD-3-Clause",

ports/dartsim/0006-support-eigen3-5.patch

@@ -0,0 +1,10 @@
+diff --git a/cmake/DARTFindEigen3.cmake b/cmake/DARTFindEigen3.cmake
+index f1f002e..d205773 100644
+--- a/cmake/DARTFindEigen3.cmake
++++ b/cmake/DARTFindEigen3.cmake
+@@ -6,4 +6,4 @@
+ #
+ # This file is provided under the "BSD-style" License
+ 
+-find_package(Eigen3 3.4.0 REQUIRED CONFIG)
++find_package(Eigen3 3.4.0...5 REQUIRED CONFIG)

ports/dartsim/portfile.cmake

@@ -10,11 +10,12 @@ vcpkg_from_github(
     SHA512 3c621245c5dc1bf26932c33c940e2b09aaebd1a15f3620616c60296f18a67e1044728543b4f640f92caf8f98295e350679b70eb11aecadea9e4a28aaf370ea75
     HEAD_REF main
     PATCHES
-        dependencies.diff
+        0001-dependencies.patch
-        devendor-lodepng.diff
+        0002-devendor-lodepng.patch
-        disable_unit_tests_examples_and_tutorials.patch
+        0003-disable_unit_tests_examples_and_tutorials.patch
-        pkgconfig.diff
+        0004-pkgconfig.patch
-        add-cassert.patch
+        0005-add-cassert.patch
+        0006-support-eigen3-5.patch
 )
 file(REMOVE_RECURSE "${SOURCE_PATH}/dart/external/imgui")
 

ports/dartsim/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "dartsim",
   "version": "6.15.0",
-  "port-version": 5,
+  "port-version": 6,
   "description": "Dynamic Animation and Robotics Toolkit",
   "homepage": "https://dartsim.github.io/",
   "license": "BSD-2-Clause",

ports/dv-processing/0001-support-eigen3-5.patch

@@ -0,0 +1,99 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index b67acfc1..1c51931f 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -156,7 +156,10 @@ IF(OS_WINDOWS)
+ ENDIF()
+ 
+ # Eigen support.
+-FIND_PACKAGE(Eigen3 3.4.0 REQUIRED)
++FIND_PACKAGE(Eigen3 REQUIRED)
++IF(Eigen3_VERSION VERSION_LESS "3.4.0")
++	MESSAGE(FATAL_ERROR "Cannot find Eigen3 3.4.0 or newer.")
++ENDIF()
+ 
+ # OpenCV support.
+ FIND_PACKAGE(OpenCV REQUIRED)
+diff --git a/benchmarks/cluster/mean-shift-alternatives.hpp b/benchmarks/cluster/mean-shift-alternatives.hpp
+index a7c572ff..e2aab920 100644
+--- a/benchmarks/cluster/mean-shift-alternatives.hpp
++++ b/benchmarks/cluster/mean-shift-alternatives.hpp
+@@ -40,12 +40,6 @@ public:
+ 	using VectorOfVectors = std::vector<Vector, Eigen::aligned_allocator<Vector>>;
+ 
+ private:
+-	static_assert(EIGEN_IMPLIES(ROWS == 1 && COLUMNS != 1, STORAGE_ORDER == Eigen::RowMajor)
+-				  && "Eigen doesn't allow row-vectors to be stored in column-major storage");
+-
+-	static_assert(EIGEN_IMPLIES(COLUMNS == 1 && ROWS != 1, STORAGE_ORDER == Eigen::ColMajor)
+-				  && "Eigen doesn't allow column-vectors to be stored in row-major storage");
+-
+ 	const uint64_t mNumSamples;
+ 
+ 	const uint16_t mNumDimensions;
+@@ -322,12 +316,6 @@ public:
+ 	using VectorOfVectors = std::vector<Vector, Eigen::aligned_allocator<Vector>>;
+ 
+ private:
+-	static_assert(EIGEN_IMPLIES(ROWS == 1 && COLUMNS != 1, STORAGE_ORDER == Eigen::RowMajor)
+-				  && "Eigen doesn't allow row-vectors to be stored in column-major storage");
+-
+-	static_assert(EIGEN_IMPLIES(COLUMNS == 1 && ROWS != 1, STORAGE_ORDER == Eigen::ColMajor)
+-				  && "Eigen doesn't allow column-vectors to be stored in row-major storage");
+-
+ 	using RTree = boost::geometry::index::rtree<Mat, boost::geometry::index::linear<16>>;
+ 
+ 	const uint64_t mNumSamples;
+diff --git a/cmake/dv-processing-config.cmake.in b/cmake/dv-processing-config.cmake.in
+index 9692b181..03e00602 100644
+--- a/cmake/dv-processing-config.cmake.in
++++ b/cmake/dv-processing-config.cmake.in
+@@ -35,7 +35,10 @@ FIND_PACKAGE(Boost 1.80 REQUIRED COMPONENTS nowide)
+ FIND_PACKAGE(OpenSSL REQUIRED)
+ 
+ # Eigen support.
+-FIND_PACKAGE(Eigen3 3.4.0 REQUIRED)
++FIND_PACKAGE(Eigen3 REQUIRED)
++IF (Eigen3_VERSION VERSION_LESS "3.4.0")
++    MESSAGE(FATAL_ERROR "Cannot find Eigen3 3.4.0 or newer.")
++ENDIF ()
+ 
+ # OpenCV support.
+ FIND_PACKAGE(OpenCV REQUIRED)
+diff --git a/include/dv-processing/containers/kd_tree/eigen_matrix_adaptor.hpp b/include/dv-processing/containers/kd_tree/eigen_matrix_adaptor.hpp
+index c23c2aeb..d0b180d7 100644
+--- a/include/dv-processing/containers/kd_tree/eigen_matrix_adaptor.hpp
++++ b/include/dv-processing/containers/kd_tree/eigen_matrix_adaptor.hpp
+@@ -103,14 +103,7 @@ private:
+ 	using Tree     = nanoflann::KDTreeEigenMatrixAdaptor<Matrix, SAMPLE_ORDER == Eigen::ColMajor ? ROWS : COLUMNS,
+ 			nanoflann::metric_L2_Simple, SAMPLE_ORDER == Eigen::RowMajor>;
+ 
+-	static_assert(EIGEN_IMPLIES(ROWS == 1 && COLUMNS != 1, STORAGE_ORDER == Eigen::RowMajor)
+-				  && "Eigen doesn't allow row-vectors to be stored in column-major storage");
+-
+-	static_assert(EIGEN_IMPLIES(COLUMNS == 1 && ROWS != 1, STORAGE_ORDER == Eigen::ColMajor)
+-				  && "Eigen doesn't allow column-vectors to be stored in row-major storage");
+-
+ 	const uint32_t mNumSamples;
+-
+ 	const uint32_t mNumDimensions;
+ 
+ 	std::unique_ptr<Tree> mTree;
+diff --git a/include/dv-processing/visualization/pose_visualizer.hpp b/include/dv-processing/visualization/pose_visualizer.hpp
+index 11b18ba9..2fa6b398 100644
+--- a/include/dv-processing/visualization/pose_visualizer.hpp
++++ b/include/dv-processing/visualization/pose_visualizer.hpp
+@@ -456,8 +456,12 @@ public:
+ 	 */
+ 	template<concepts::Coordinate3DConstructible Output = Eigen::Vector3f>
+ 	[[nodiscard]] Output getCameraOrientation() const {
++#if EIGEN_MAJOR_VERSION < 5
+ 		Eigen::Vector3f eulerAngles = mT_C_W.inverse().getRotationMatrix().eulerAngles(0, 1, 2);
+-		eulerAngles                 = eulerAngles * RAD_TO_DEG;
++#else
++		Eigen::Vector3f eulerAngles = mT_C_W.inverse().getRotationMatrix().canonicalEulerAngles(0, 1, 2);
++#endif
++		eulerAngles = eulerAngles * RAD_TO_DEG;
+ 		return Output(eulerAngles.x(), eulerAngles.y(), eulerAngles.z());
+ 	}
+ 

ports/dv-processing/portfile.cmake

@@ -3,8 +3,10 @@ vcpkg_from_gitlab(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO dv/dv-processing
     REF "${VERSION}"
-    SHA512 b714349d307fa5e164f5e9a35866a55e3ce450ebb7088ecb2501360c5f9d755d472336b48300450381fc0525fbf1d60e90aaac457e5df1f572597eacba501462
+    SHA512 535680686214d9d44efa8281d9b7cb424e93a662b0742f02a07616ca6b1d313779f03845489059b082481aafd9a83eca20f5315a4b5319e8dc956a15ca790afa
     HEAD_REF master
+    PATCHES
+        0001-support-eigen3-5.patch
 )
 
 vcpkg_from_gitlab(

ports/dv-processing/vcpkg.json

@@ -1,6 +1,6 @@
 {
   "name": "dv-processing",
-  "version": "2.0.1",
+  "version": "2.0.2",
   "description": "Generic algorithms for event cameras. (C++20 required.)",
   "homepage": "https://gitlab.com/inivation/dv/dv-processing",
   "license": "Apache-2.0",

ports/eigen3/portfile.cmake

@@ -5,7 +5,7 @@ vcpkg_from_gitlab(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO libeigen/eigen
     REF ${VERSION}
-    SHA512 15b540d2fad25de837d7612456ea65b7fcfa25f886c48dcb3de025e079f5f43f45f1c0bd9a8435430d0e2fb9f0a6129719626dd4fd45dc61fc480f97762b2f56
+    SHA512 b337d3bc38440db190a8f1fbc4eabc0098e69fcc95bfba195fe039ffb942cae2a7f0153f3094f35fa26325750d1c62e20cccaf916a41f5c7f248ec5e5d30a942
     HEAD_REF master
 )
 
@@ -31,13 +31,8 @@ vcpkg_cmake_configure(
 
 vcpkg_cmake_install()
 vcpkg_cmake_config_fixup()
-
 vcpkg_fixup_pkgconfig()
 
-# Copy the eigen header files to conventional location for user-wide MSBuild integration
-file(GLOB INCLUDES ${CURRENT_PACKAGES_DIR}/include/eigen3/*)
-file(COPY ${INCLUDES} DESTINATION ${CURRENT_PACKAGES_DIR}/include)
-
 file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include" "${CURRENT_PACKAGES_DIR}/debug/share")
 
 vcpkg_install_copyright(

ports/eigen3/vcpkg.json

@@ -1,7 +1,6 @@
 {
   "name": "eigen3",
-  "version": "3.4.1",
+  "version": "5.0.1",
-  "port-version": 1,
   "description": "C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.",
   "homepage": "http://eigen.tuxfamily.org",
   "license": "MPL-2.0",

ports/fcl/0001-fix-cxx-standard.patch

@@ -0,0 +1,62 @@
+diff --git a/CMakeModules/CompilerSettings.cmake b/CMakeModules/CompilerSettings.cmake
+index 96b9e1f..645ca38 100644
+--- a/CMakeModules/CompilerSettings.cmake
++++ b/CMakeModules/CompilerSettings.cmake
+@@ -33,7 +33,7 @@
+ 
+ # GCC
+ if(CMAKE_COMPILER_IS_GNUCXX)
+-    add_definitions(-std=c++11 -W -Wall -Wextra -Wpedantic)
++    add_definitions(-W -Wall -Wextra -Wpedantic)
+     if(FCL_TREAT_WARNINGS_AS_ERRORS)
+         add_definitions(-Werror)
+     endif()
+@@ -41,7 +41,7 @@ endif()
+ 
+ # Clang
+ if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+-    add_definitions(-std=c++11 -W -Wall -Wextra)
++    add_definitions(-W -Wall -Wextra)
+     if(FCL_TREAT_WARNINGS_AS_ERRORS)
+         add_definitions(-Werror)
+     endif()
+@@ -53,7 +53,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
+     if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 6.1)
+         message(FATAL_ERROR "AppleClang version must be at least 6.1!")
+     endif()
+-    add_definitions(-std=c++11 -W -Wall -Wextra)
++    add_definitions(-W -Wall -Wextra)
+     if(FCL_TREAT_WARNINGS_AS_ERRORS)
+         add_definitions(-Werror)
+     endif()
+@@ -77,7 +77,7 @@ else()
+     set(IS_ICPC 0)
+ endif()
+ if(IS_ICPC)
+-    add_definitions(-std=c++11 -wd191 -wd411 -wd654 -wd1125 -wd1292 -wd1565 -wd1628 -wd2196)
++    add_definitions(-wd191 -wd411 -wd654 -wd1125 -wd1292 -wd1565 -wd1628 -wd2196)
+     set(CMAKE_AR "xiar" CACHE STRING "Intel archiver" FORCE)
+     set(CMAKE_CXX_FLAGS "-pthread" CACHE STRING "Default compile flags" FORCE)
+     set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG"
+@@ -97,7 +97,7 @@ else()
+     set(IS_XLC 0)
+ endif()
+ if(IS_XLC)
+-    add_definitions(-std=c++11 -qpic -q64 -qmaxmem=-1)
++    add_definitions(-qpic -q64 -qmaxmem=-1)
+     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -q64")
+     set(CMAKE_MODULE_LINKER_FLAGS "${CMAKE_MODULE_LINKER_FLAGS} -q64")
+ endif()
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 425724e..c065b3f 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -47,6 +47,8 @@ else()
+   add_library(${PROJECT_NAME} SHARED ${FCL_HEADERS} ${FCL_SOURCE_CODE})
+ endif()
+ 
++target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_14)
++
+ # Be sure to pass to the consumer the set of SIMD used in the compilation
+ target_compile_options(${PROJECT_NAME} PUBLIC ${SSE_FLAGS})
+ 

ports/fcl/0002-fix-eigen3.patch

@@ -0,0 +1,18 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index d03ebe3..f5e4ca9 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -157,11 +157,11 @@ set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH ON)
+ #
+ # If Eigen3 is not found, manually set the cache variable EIGEN3_INCLUDE_DIR
+ #===============================================================================
+-find_package(Eigen3 3.0.5 QUIET CONFIG)
++find_package(Eigen3 QUIET CONFIG)
+ 
+ # If Eigen3Config.cmake is not found, use the FindEigen3.cmake module
+ if(NOT Eigen3_FOUND)
+-  find_package(Eigen3 3.0.5 QUIET MODULE)
++  find_package(Eigen3 QUIET MODULE)
+   set(Eigen3_FOUND ON)
+ endif()
+ 

ports/fcl/dont-lower-c++-std.diff

@@ -1,12 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 6e5bbb8..57de5e1 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -342,7 +342,6 @@ add_subdirectory(include/fcl)
- 
- set(PKG_DESC "Flexible Collision Library")
- if(NOT MSVC)
--    set(PKG_CFLAGS "-std=c++11")
- endif()
- configure_file(fcl.pc.in fcl.pc @ONLY)
- 

ports/fcl/portfile.cmake

@@ -5,11 +5,12 @@ endif()
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO flexible-collision-library/fcl
-    REF ${VERSION}
+    REF a3fbc9fe4f619d7bb1117dc137daa497d2de454b # unrelased (Mar 13, 2025)
-    SHA512 95612476f4706fcd60812204ec7495a956c4e318cc6ace9526ac93dc765605ddf73b2d0d9ff9f4c9c739e43c5f8e24670113c86e02868a2949ab234c3bf82374
+    SHA512 d04db55768d27cd191cf72ee3cc7ffeb5164c0d5db8bd38eb8ed523846e205340947f0b64473d567db0bc56bf8e8da330dc6e5e2929066e6d0f512fd5a7cbd92
     HEAD_REF master
     PATCHES
-        dont-lower-c++-std.diff
+        0001-fix-cxx-standard.patch
+        0002-fix-eigen3.patch
 )
 
 string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "static" FCL_STATIC_LIBRARY)
@@ -23,12 +24,12 @@ endif()
 vcpkg_cmake_configure(
     SOURCE_PATH "${SOURCE_PATH}"
     OPTIONS
+        -DBUILD_TESTING=OFF
         -DCMAKE_DISABLE_FIND_PACKAGE_Doxygen=1
         -DCMAKE_REQUIRE_FIND_PACKAGE_Eigen3=1
         -DCMAKE_REQUIRE_FIND_PACKAGE_ccd=1
         -DCMAKE_REQUIRE_FIND_PACKAGE_octomap=1
         -DFCL_STATIC_LIBRARY=${FCL_STATIC_LIBRARY}
-        -DFCL_BUILD_TESTS=OFF
         -DFCL_USE_X64_SSE=${FCL_USE_X64_SSE}
 )
 

ports/fcl/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "fcl",
   "version": "0.7.0",
-  "port-version": 4,
+  "port-version": 5,
   "description": "A library for performing three types of proximity queries on a pair of geometric models composed of triangles",
   "homepage": "https://github.com/flexible-collision-library/fcl",
   "dependencies": [

ports/g2o/0003-support-eigen3-5.patch

@@ -0,0 +1,80 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 3bc511e..86a903c 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -477,15 +477,9 @@ endif(MSVC)
+ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${g2o_CXX_FLAGS}")
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${g2o_C_FLAGS}")
+ 
+-# Find Eigen3. If it defines the target, this is used. If not,
+-# fall back to the using the module form.
++# Find Eigen3
+ # See https://eigen.tuxfamily.org/dox/TopicCMakeGuide.html for details
+-find_package(Eigen3 3.3 REQUIRED)
+-if (TARGET Eigen3::Eigen)
+-  set(G2O_EIGEN3_EIGEN_TARGET Eigen3::Eigen)
+-else()
+-  include_directories(${EIGEN3_INCLUDE_DIR})
+-endif ()
++find_package(Eigen3 REQUIRED NO_MODULE)
+ 
+ # Generate config.h
+ set(G2O_OPENGL_FOUND ${OPENGL_FOUND})
+diff --git a/benchmarks/CMakeLists.txt b/benchmarks/CMakeLists.txt
+index 89a2612..acda5b9 100644
+--- a/benchmarks/CMakeLists.txt
++++ b/benchmarks/CMakeLists.txt
+@@ -4,4 +4,4 @@ target_include_directories(benchmark_jacobian_timing PUBLIC
+   "$<BUILD_INTERFACE:${g2o_SOURCE_DIR};${PROJECT_BINARY_DIR}>"
+ )
+ 
+-target_link_libraries(benchmark_jacobian_timing benchmark::benchmark ${G2O_EIGEN3_EIGEN_TARGET})
++target_link_libraries(benchmark_jacobian_timing benchmark::benchmark Eigen3::Eigen)
+diff --git a/g2o/core/CMakeLists.txt b/g2o/core/CMakeLists.txt
+index 21901c2..da0d2a9 100644
+--- a/g2o/core/CMakeLists.txt
++++ b/g2o/core/CMakeLists.txt
+@@ -50,7 +50,7 @@ set_target_properties(core PROPERTIES OUTPUT_NAME ${LIB_PREFIX}core)
+ set_target_properties(core PROPERTIES
+   VERSION ${G2O_LIB_VERSION}
+   SOVERSION ${G2O_LIB_SOVERSION})
+-target_link_libraries(core PUBLIC stuff ${G2O_EIGEN3_EIGEN_TARGET})
++target_link_libraries(core PUBLIC stuff Eigen3::Eigen)
+ target_link_libraries(core PUBLIC g2o_ceres_ad)
+ target_compile_features(core PUBLIC cxx_std_17)
+ 
+diff --git a/g2o/solvers/csparse/CMakeLists.txt b/g2o/solvers/csparse/CMakeLists.txt
+index e3a3980..3539711 100644
+--- a/g2o/solvers/csparse/CMakeLists.txt
++++ b/g2o/solvers/csparse/CMakeLists.txt
+@@ -19,7 +19,7 @@ target_include_directories(csparse_extension PUBLIC
+   ${CSPARSE_INCLUDE_DIR}
+   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+   $<INSTALL_INTERFACE:include/g2o/solvers/csparse>)
+-target_link_libraries(csparse_extension PUBLIC stuff ${CSPARSE_LIBRARY} ${G2O_EIGEN3_EIGEN_TARGET})
++target_link_libraries(csparse_extension PUBLIC stuff ${CSPARSE_LIBRARY} Eigen3::Eigen)
+ 
+ add_library(solver_csparse ${G2O_LIB_TYPE}
+   solver_csparse.cpp
+diff --git a/g2o/stuff/CMakeLists.txt b/g2o/stuff/CMakeLists.txt
+index 6334468..04d0255 100644
+--- a/g2o/stuff/CMakeLists.txt
++++ b/g2o/stuff/CMakeLists.txt
+@@ -28,7 +28,7 @@ set_target_properties(stuff PROPERTIES
+   VERSION ${G2O_LIB_VERSION}
+   SOVERSION ${G2O_LIB_SOVERSION})
+ target_compile_features(stuff PUBLIC cxx_std_17)
+-target_link_libraries(stuff PUBLIC ${G2O_EIGEN3_EIGEN_TARGET})
++target_link_libraries(stuff PUBLIC Eigen3::Eigen)
+ 
+ if (APPLE)
+   set_target_properties(stuff PROPERTIES INSTALL_NAME_DIR "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
+@@ -64,7 +64,7 @@ if(OPENGL_FOUND AND G2O_HAVE_OPENGL)
+     $<INSTALL_INTERFACE:include/g2o/stuff>
+   )
+ 
+-  target_link_libraries(opengl_helper PUBLIC ${G2O_OPENGL_TARGET} ${G2O_EIGEN3_EIGEN_TARGET})
++  target_link_libraries(opengl_helper PUBLIC ${G2O_OPENGL_TARGET} Eigen3::Eigen)
+   target_compile_features(opengl_helper PUBLIC cxx_std_17)
+   set_target_properties(opengl_helper PROPERTIES OUTPUT_NAME "${LIB_PREFIX}opengl_helper")
+   set_target_properties(opengl_helper PROPERTIES

ports/g2o/portfile.cmake

@@ -1,5 +1,3 @@
-string(REPLACE "-" "" GIT_TAG "${VERSION}_git")
-
 vcpkg_download_distfile(FIX_UPSTREAM_37d17a9
     URLS https://github.com/RainerKuemmerle/g2o/commit/37d17a94594648acf9cce85e8483c0405c510f0d.patch?full_index=1
     SHA512 dc333fa43770fbdfc98592b4beb0ff03fdb033990b7054ae65953bad31899d11053fe08977526d70fa7fdf299ad0d2368ed79f29b9db847fdca3ff4e3d0415d9
@@ -12,17 +10,19 @@ vcpkg_download_distfile(FIX_UPSTREAM_100af05
     FILENAME g2o-100af05931ae3497f39ab42cbeba240f50cc7b66.patch
 )
 
+string(REPLACE "-" "" GIT_TAG "${VERSION}_git")
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO RainerKuemmerle/g2o
-    REF eec325a1da1273e87bc97887d49e70570f28570c
+    REF "${GIT_TAG}"
-    SHA512 22d3d546fbc92bff4767b66dcc9a001b5ed0cac0787874dda8712140aa03004b0312f702ea7d61c5fdcfa0bb00654c873f8b99899cd9e2b89667d8d99667d5cd
+    SHA512 575e97a54f87a4df239b2137c58ebb7025dfa78f6046808d155bec978f8ef88b2e4e6ef53401941fdb30cf88916c4eacb43512d615c5f8d30301cd176c53b05e
     HEAD_REF master
     PATCHES
-        dependencies.diff
+        0001-dependencies.patch
-        fix-absolute.patch
+        0002-fix-absolute.patch
         "${FIX_UPSTREAM_37d17a9}"
         "${FIX_UPSTREAM_100af05}"
+        0003-support-eigen3-5.patch
 )
 file(REMOVE
     "${SOURCE_PATH}/cmake_modules/FindBLAS.cmake"

ports/g2o/vcpkg.json

@@ -1,7 +1,6 @@
 {
   "name": "g2o",
-  "version-date": "2024-12-14",
+  "version-date": "2024-12-28",
-  "port-version": 5,
   "description": "g2o: A General Framework for Graph Optimization",
   "homepage": "https://openslam.org/g2o.html",
   "license": null,

ports/gtsam/eigen3-fixes.patch

@@ -0,0 +1,77 @@
+diff --git a/gtsam/base/Matrix.cpp b/gtsam/base/Matrix.cpp
+index 5b8a021..abc6574 100644
+--- a/gtsam/base/Matrix.cpp
++++ b/gtsam/base/Matrix.cpp
+@@ -127,16 +127,6 @@ bool linear_dependent(const Matrix& A, const Matrix& B, double tol) {
+   }
+ }
+ 
+-/* ************************************************************************* */
+-Vector operator^(const Matrix& A, const Vector & v) {
+-  if (A.rows()!=v.size()) throw std::invalid_argument(
+-      boost::str(boost::format("Matrix operator^ : A.m(%d)!=v.size(%d)") % A.rows() % v.size()));
+-//  Vector vt = v.transpose();
+-//  Vector vtA = vt * A;
+-//  return vtA.transpose();
+-  return A.transpose() * v;
+-}
+-
+ const Eigen::IOFormat& matlabFormat() {
+   static const Eigen::IOFormat matlab(
+     Eigen::StreamPrecision, // precision
+diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
+index cfedf6d..05e3d0d 100644
+--- a/gtsam/base/Matrix.h
++++ b/gtsam/base/Matrix.h
+@@ -54,7 +54,7 @@ using Matrix7##N = Eigen::Matrix<double, 7, N>;  \
+ using Matrix8##N = Eigen::Matrix<double, 8, N>;  \
+ using Matrix9##N = Eigen::Matrix<double, 9, N>;  \
+ static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \
+-static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero();
++static const Eigen::MatrixBase<Matrix##N>::ZeroReturnType Z_##N##x##N = Matrix##N::Zero();
+ 
+ GTSAM_MAKE_MATRIX_DEFS(1)
+ GTSAM_MAKE_MATRIX_DEFS(2)
+@@ -133,12 +133,6 @@ GTSAM_EXPORT bool linear_independent(const Matrix& A, const Matrix& B, double to
+  */
+ GTSAM_EXPORT bool linear_dependent(const Matrix& A, const Matrix& B, double tol = 1e-9);
+ 
+-/**
+- * overload ^ for trans(A)*v
+- * We transpose the vectors for speed.
+- */
+-GTSAM_EXPORT Vector operator^(const Matrix& A, const Vector & v);
+-
+ /** products using old-style format to improve compatibility */
+ template<class MATRIX>
+ inline MATRIX prod(const MATRIX& A, const MATRIX&B) {
+diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
+index f7923ff..99573a5 100644
+--- a/gtsam/base/Vector.h
++++ b/gtsam/base/Vector.h
+@@ -27,6 +27,7 @@
+ 
+ #include <gtsam/global_includes.h>
+ #include <Eigen/Core>
++#include <cassert>
+ #include <iosfwd>
+ #include <list>
+ 
+@@ -42,14 +43,14 @@ typedef Eigen::Matrix<double, 1, 1> Vector1;
+ typedef Eigen::Vector2d Vector2;
+ typedef Eigen::Vector3d Vector3;
+ 
+-static const Eigen::MatrixBase<Vector2>::ConstantReturnType Z_2x1 = Vector2::Zero();
+-static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Zero();
++static const Eigen::MatrixBase<Vector2>::ZeroReturnType Z_2x1 = Vector2::Zero();
++static const Eigen::MatrixBase<Vector3>::ZeroReturnType Z_3x1 = Vector3::Zero();
+ 
+ // Create handy typedefs and constants for vectors with N>3
+ // VectorN and Z_Nx1, for N=1..9
+ #define GTSAM_MAKE_VECTOR_DEFS(N)                \
+   using Vector##N = Eigen::Matrix<double, N, 1>; \
+-  static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero();
++  static const Eigen::MatrixBase<Vector##N>::ZeroReturnType Z_##N##x1 = Vector##N::Zero();
+ 
+ GTSAM_MAKE_VECTOR_DEFS(4)
+ GTSAM_MAKE_VECTOR_DEFS(5)

ports/gtsam/portfile.cmake

@@ -3,10 +3,11 @@ vcpkg_from_github(
     REPO borglab/gtsam
     REF ${VERSION}
     SHA512 c0e5de8d86ea8241b49449bd291999ec0d6530bc9943b213e7c650b0ab29894ab53636bd1a0ed82d9d9d148dfc399ebff28e108b060d2d2176b584823bd722cd
-    HEAD_REF develop    
+    HEAD_REF develop
     PATCHES
         build-fixes.patch
         path-fixes.patch
+        eigen3-fixes.patch
 )
 
 vcpkg_cmake_configure(

ports/gtsam/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "gtsam",
   "version": "4.2.0",
-  "port-version": 1,
+  "port-version": 2,
   "description": "GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.",
   "homepage": "https://github.com/borglab/gtsam",
   "license": "BSD-3-Clause",

ports/itk/dependencies.diff

@@ -40,10 +40,38 @@ index 135c1d3..f644a32 100644
    set(ITKDoubleConversion_INCLUDE_DIRS
      ${ITKDoubleConversion_SOURCE_DIR}/src
 diff --git a/Modules/ThirdParty/Eigen3/CMakeLists.txt b/Modules/ThirdParty/Eigen3/CMakeLists.txt
-index 8dbbb86..428d335 100644
+index 8dbbb86..a3d2efe 100644
 --- a/Modules/ThirdParty/Eigen3/CMakeLists.txt
 +++ b/Modules/ThirdParty/Eigen3/CMakeLists.txt
-@@ -88,7 +88,7 @@ find_package(${_Eigen3_SYSTEM_OR_INTERNAL} ${_Eigen3_min_version} REQUIRED CONFI
+@@ -52,12 +52,12 @@ set(_Eigen3_min_version 3.3)
+ 
+ if(ITK_USE_SYSTEM_EIGEN)
+   set(_Eigen3_SYSTEM_OR_INTERNAL "Eigen3")
+-  find_package(${_Eigen3_SYSTEM_OR_INTERNAL} ${_Eigen3_min_version} REQUIRED CONFIG)
++  find_package(${_Eigen3_SYSTEM_OR_INTERNAL} ${_Eigen3_min_version}...5 REQUIRED CONFIG)
+   set(Eigen3_DIR_INSTALL ${Eigen3_DIR})
+   set(Eigen3_DIR_BUILD ${Eigen3_DIR})
+ else()
+   set(_Eigen3_SYSTEM_OR_INTERNAL "ITKInternalEigen3")
+-  find_package(${_Eigen3_SYSTEM_OR_INTERNAL} ${_Eigen3_min_version} REQUIRED CONFIG)
++  find_package(${_Eigen3_SYSTEM_OR_INTERNAL} ${_Eigen3_min_version}...5 REQUIRED CONFIG)
+   set(Eigen3_DIR_INSTALL "\${ITK_MODULES_DIR}")
+   set(_eigen3_build_dir "${ITK_BINARY_DIR}/ITKInternalEigen3-build")
+   set(Eigen3_DIR_BUILD "${_eigen3_build_dir}")
+@@ -77,18 +77,18 @@ set(ITKEigen3_INCLUDE_DIRS
+ set(ITKEigen3_EXPORT_CODE_INSTALL "
+ set(ITK_USE_SYSTEM_EIGEN \"${ITK_USE_SYSTEM_EIGEN}\")
+ set(${_Eigen3_SYSTEM_OR_INTERNAL}_DIR \"${Eigen3_DIR_INSTALL}\")
+-find_package(${_Eigen3_SYSTEM_OR_INTERNAL} ${_Eigen3_min_version} REQUIRED CONFIG)
++find_package(${_Eigen3_SYSTEM_OR_INTERNAL} ${_Eigen3_min_version}...5 REQUIRED CONFIG)
+ ")
+ set(ITKEigen3_EXPORT_CODE_BUILD "
+ set(ITK_USE_SYSTEM_EIGEN \"${ITK_USE_SYSTEM_EIGEN}\")
+ set(${_Eigen3_SYSTEM_OR_INTERNAL}_DIR \"${Eigen3_DIR_BUILD}\")
+-find_package(${_Eigen3_SYSTEM_OR_INTERNAL} ${_Eigen3_min_version} REQUIRED CONFIG)
++find_package(${_Eigen3_SYSTEM_OR_INTERNAL} ${_Eigen3_min_version}...5 REQUIRED CONFIG)
+ ")
+ 
  # Eigen3 targets are not installed if ITK_USE_SYSTEM_EIGEN==True
  itk_module_impl()
  

ports/itk/portfile.cmake

@@ -14,7 +14,7 @@ vcpkg_from_github(
         When updating the ITK version and SHA512, remember to update the remote module versions below.
         Try `vcpkg install itk[core,cuda,rtk] --only-downloads` for suggestions and verification.
     #]]
-    SHA512 426d7e9974951d3e48de3a38e02e4c4fab3b60657d4bac47642cab40b4a47bf5d7dbbead4d0761a89374c05ad55f50be8af70293f63d2516f4a98edce8634d51
+    SHA512 225de9963e8eaf93ac32ca4a75c4e7aa887c8e926483c5aca0a4c77ef0e6cc6db4561f96a9ec3b936524ea698702705e8dc2c4a2e6a155733a12c0b3098ae11c
     HEAD_REF master
     PATCHES
         dependencies.diff

ports/itk/vcpkg.json

@@ -1,6 +1,6 @@
 {
   "name": "itk",
-  "version": "5.4.3",
+  "version": "5.4.4",
   "description": "Insight Segmentation and Registration Toolkit (ITK) is used for image processing and analysis.",
   "homepage": "https://github.com/InsightSoftwareConsortium/ITK",
   "license": "Apache-2.0",

ports/libczi/0001-support-eigen3-5.patch

@@ -0,0 +1,13 @@
+diff --git a/Src/CMakeLists.txt b/Src/CMakeLists.txt
+index e0173eb..898c6ac 100644
+--- a/Src/CMakeLists.txt
++++ b/Src/CMakeLists.txt
+@@ -6,7 +6,7 @@ include(utilities)
+ include(CheckCSourceCompiles)
+ 
+ if (LIBCZI_BUILD_PREFER_EXTERNALPACKAGE_EIGEN3)
+- find_package (Eigen3 3.3 REQUIRED NO_MODULE)
++ find_package (Eigen3 REQUIRED NO_MODULE)
+ else()
+  include(ExternalEIGEN3)
+ endif()

ports/libczi/portfile.cmake

@@ -6,6 +6,8 @@ vcpkg_from_github(
     REPO ${LIBCZI_REPO_NAME}
     REF ${LIBCZI_REPO_REF}
     SHA512 58b841406fa1478499db6cbae935d1b31ebfe8ba8276e92224a08ee828f617f9f51300b128728bc96ff032889cc24be1b9e9ecc033fc663acd613e2c2c93ffa5
+    PATCHES
+        0001-support-eigen3-5.patch
 )
 
 # Translate enabled vcpkg features into CMake -D flags:

ports/libczi/vcpkg.json

@@ -1,6 +1,7 @@
 {
   "name": "libczi",
   "version": "0.67.2",
+  "port-version": 1,
   "description": "library to read and write CZI files.",
   "homepage": "https://github.com/ZEISS/libczi",
   "license": null,

ports/libinterpolate/0001-support-eigen3-5.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 45550a8..0ebd2c7 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -42,7 +42,7 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
+ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+ 
+ find_package(Boost REQUIRED)
+-find_package(Eigen3 3.3.7 REQUIRED) # v3.3.7 adds support for cmake targets
++find_package(Eigen3 3.3.7...5 REQUIRED) # v3.3.7 adds support for cmake targets
+ 
+ add_library(Interpolate INTERFACE)
+ add_library(libInterpolate::Interpolate ALIAS Interpolate)

ports/libinterpolate/portfile.cmake

@@ -4,6 +4,8 @@ vcpkg_from_github(
     REF ${VERSION}
     SHA512 25abb4df8ea0648cd9cdd309f2491a9fc2cdbc5af3cc786fec39302680835bb1f29281628dd89323f353d377d9702d9b9f894c85c5cb0aa7cbae5590d05d3e27
     HEAD_REF master
+    PATCHES
+        0001-support-eigen3-5.patch
 )
 
 set(VCPKG_BUILD_TYPE release) # header-only port

ports/libinterpolate/vcpkg.json

@@ -1,6 +1,7 @@
 {
   "name": "libinterpolate",
   "version": "2.7.2",
+  "port-version": 1,
   "description": "Header-only C++ interpolation library.",
   "homepage": "https://github.com/CD3/libInterpolate",
   "license": "MIT",

ports/ltla-cppirlba/0001-fix-eigen3.patch

@@ -0,0 +1,26 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 7e6a031..b6638b3 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -22,7 +22,7 @@ option(IRLBA_FETCH_EXTERN "Automatically fetch CppIrlba's dependencies." ON)
+ if(IRLBA_FETCH_EXTERN)
+     add_subdirectory(extern)
+ else()
+-    find_package(Eigen3 3.4.0 CONFIG REQUIRED)
++    find_package(Eigen3 CONFIG REQUIRED)
+     find_package(ltla_aarand 1.0.0 CONFIG REQUIRED)
+     find_package(ltla_subpar 0.3.1 CONFIG REQUIRED)
+ endif()
+diff --git a/cmake/Config.cmake.in b/cmake/Config.cmake.in
+index 91c05e8..5c796f4 100644
+--- a/cmake/Config.cmake.in
++++ b/cmake/Config.cmake.in
+@@ -1,7 +1,7 @@
+ @PACKAGE_INIT@
+ 
+ include(CMakeFindDependencyMacro)
+-find_dependency(Eigen3 3.4.0 CONFIG REQUIRED)
++find_dependency(Eigen3 CONFIG REQUIRED)
+ find_dependency(ltla_aarand 1.0.0 CONFIG REQUIRED)
+ find_dependency(ltla_subpar 0.3.1 CONFIG REQUIRED)
+ 

ports/ltla-cppirlba/portfile.cmake

@@ -4,6 +4,8 @@ vcpkg_from_github(
     REF "v${VERSION}"
     SHA512 7ddeccfe0a0810e32fb4385cf5a6545831764acb0ea2c96373228beceee897b20251391421b85b08e51baf8d5dca7c4b88347145a784ec6d7c3e11ff05a1c5ad
     HEAD_REF master
+    PATCHES
+        0001-fix-eigen3.patch
 )
 
 set(VCPKG_BUILD_TYPE "release") # header-only port

ports/ltla-cppirlba/vcpkg.json

@@ -1,6 +1,7 @@
 {
   "name": "ltla-cppirlba",
   "version": "2.0.2",
+  "port-version": 1,
   "description": "A C++ port of the IRLBA algorithm, based on the C code in the R package.",
   "homepage": "https://github.com/LTLA/CppIrlba",
   "license": "MIT",

ports/manif/0001-support-eigen3-5.patch

@@ -0,0 +1,52 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 2b042ff..d7b707e 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -25,31 +25,7 @@ endif()
+ # First we look for the Eigen3 cmake module
+ # provided by the libeigen3-dev on newer Ubuntu. If that fails, then we
+ # fall-back to the version provided in the cmake/modules.
+-find_package(Eigen3 QUIET)
+-
+-if(NOT EIGEN3_FOUND)
+-  list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/modules)
+-  find_package(Eigen3 REQUIRED)
+-endif()
+-
+-# Note that eigen 3.2 (on Ubuntu Wily) only provides EIGEN3_INCLUDE_DIR,
+-# not EIGEN3_INCLUDE_DIRS, so we have to set the latter from the former.
+-if(NOT EIGEN3_INCLUDE_DIRS)
+-  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+-endif()
+-
+-# Necessary for Ubuntu 16.04's god-awful FindEigen3.cmake.
+-if((NOT (DEFINED EIGEN3_VERSION)) AND (DEFINED EIGEN3_VERSION_STRING))
+-  set(EIGEN3_VERSION ${EIGEN3_VERSION_STRING})
+-endif()
+-
+-if(${EIGEN3_VERSION} VERSION_EQUAL "3.3.6")
+-  message(WARNING "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIRS},"
+-                  "but this version has a [bug](http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1643)")
+-elseif(${EIGEN3_VERSION} VERSION_LESS "3.3.8")
+-  message(WARNING "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIRS}. "
+-                  "Beware that the move semantic has a bug and resolves to a simple copy.")
+-endif()
++find_package(Eigen3 3.3.8...5 CONFIG REQUIRED)
+ 
+ # Options. Turn on with 'cmake -DBUILD_TESTING=ON'.
+ # catkin build manif --cmake-args -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON
+@@ -103,12 +79,8 @@ target_include_directories(${PROJECT_NAME} INTERFACE
+ target_link_libraries(${PROJECT_NAME} INTERFACE "$<$<BOOL:${tl-optional_FOUND}>:tl::optional>")
+ 
+ # Add Eigen interface dependency, depending on available cmake info
+-if(TARGET Eigen3::Eigen)
+-  target_link_libraries(${PROJECT_NAME} INTERFACE Eigen3::Eigen)
+-  set(Eigen3_DEPENDENCY "find_dependency(Eigen3 ${Eigen3_VERSION})")
+-else(TARGET Eigen3::Eigen)
+-  target_include_directories(${PROJECT_NAME} SYSTEM INTERFACE ${EIGEN3_INCLUDE_DIRS})
+-endif(TARGET Eigen3::Eigen)
++target_link_libraries(${PROJECT_NAME} INTERFACE Eigen3::Eigen)
++set(Eigen3_DEPENDENCY "find_dependency(Eigen3 ${Eigen3_VERSION})")
+ 
+ # Add tl-optional interface dependency if enabled
+ if(tl-optional_FOUND)

ports/manif/portfile.cmake

@@ -5,6 +5,8 @@ vcpkg_from_github(
     REF "${VERSION}"
     SHA512 ab74e6c67641a9bb33bf779fb70d4f79d0758840f28750448c0a26714cd3941376f128cd3936d7329f9c74becc18440fca2a1ff52759f99019fb430287a3a52f
     HEAD_REF devel
+    PATCHES
+        0001-support-eigen3-5.patch
 )
 
 vcpkg_cmake_configure(

ports/manif/vcpkg.json

@@ -1,6 +1,7 @@
 {
   "name": "manif",
   "version": "0.0.5",
+  "port-version": 1,
   "description": "A small C++11 header-only library for Lie theory.",
   "homepage": "https://github.com/artivis/manif",
   "documentation": "https://artivis.github.io/manif/",

ports/opencv3/0020-contrib-add-cassert.patch

@@ -0,0 +1,13 @@
+diff --git a/modules/sfm/src/libmv_light/libmv/numeric/numeric.h b/modules/sfm/src/libmv_light/libmv/numeric/numeric.h
+index dde7e81..063b16a 100644
+--- a/modules/sfm/src/libmv_light/libmv/numeric/numeric.h
++++ b/modules/sfm/src/libmv_light/libmv/numeric/numeric.h
+@@ -33,6 +33,8 @@
+ #include <Eigen/QR>
+ #include <Eigen/SVD>
+ 
++#include <cassert>
++
+ #if !defined(__MINGW64__)
+ #  if defined(_WIN32) || defined(__APPLE__) || \
+       defined(__FreeBSD__) || defined(__NetBSD__)

ports/opencv3/portfile.cmake

@@ -136,6 +136,7 @@ if("contrib" IN_LIST FEATURES)
       0007-contrib-fix-hdf5.patch
       0013-contrib-fix-tesseract.patch
       0016-contrib-fix-freetype.patch
+      0020-contrib-add-cassert.patch
   )
   set(BUILD_WITH_CONTRIB_FLAG "-DOPENCV_EXTRA_MODULES_PATH=${CONTRIB_SOURCE_PATH}/modules")
 

ports/opencv3/vcpkg.json

@@ -1,6 +1,7 @@
 {
   "name": "opencv3",
   "version": "3.4.20",
+  "port-version": 1,
   "description": "Open Source Computer Vision Library",
   "homepage": "https://github.com/opencv/opencv",
   "license": "BSD-3-Clause",
@@ -52,7 +53,7 @@
       "dependencies": [
         {
           "name": "hdf5",
-          "platform": "!uwp & !(windows & (arm | arm64))"
+          "platform": "!uwp & !(windows & arm)"
         },
         {
           "name": "opencv3",
@@ -63,7 +64,7 @@
         },
         {
           "name": "tesseract",
-          "platform": "!uwp & !(windows & (arm | arm64))"
+          "platform": "!uwp & !(windows & arm)"
         }
       ]
     },
@@ -129,14 +130,12 @@
     },
     "halide": {
       "description": "Halide support for opencv",
+      "supports": "!(windows & static)",
       "dependencies": [
         "halide",
         {
           "name": "opencv3",
-          "default-features": false
+          "default-features": false,
-        },
-        {
-          "name": "opencv3",
           "features": [
             "dnn"
           ]
@@ -178,6 +177,7 @@
     },
     "opengl": {
       "description": "opengl support for opencv",
+      "supports": "!uwp & !android",
       "dependencies": [
         "opengl"
       ]
@@ -267,14 +267,9 @@
           "name": "opencv3",
           "default-features": false,
           "features": [
-            "contrib"
+            "contrib",
-          ]
+            "eigen",
-        },
+            "flann"
-        {
-          "name": "opencv3",
-          "default-features": false,
-          "features": [
-            "eigen"
           ]
         }
       ]
@@ -297,6 +292,7 @@
     },
     "vtk": {
       "description": "vtk support for opencv",
+      "supports": "!android & !uwp & !(windows & arm)",
       "dependencies": [
         {
           "name": "opencv3",

ports/opencv4/portfile.cmake

@@ -1,5 +1,13 @@
 set(USE_QT_VERSION "6")
 
+# fix to get version from eigen after v3.4.0
+vcpkg_download_distfile(
+    PATCH1_FILE
+    URLS https://github.com/opencv/opencv/commit/468de9b36740b3355f0d5cd8be2ce28b340df120.patch?full_index=1
+    SHA512 09ee552fcd9a96359230104d7bf8610a63e05d743a3b51d58c6469331729a6440444e05c616464380dbebaefdd7ee6fb06cac5fc70694af85f9c8d40201aad10
+    FILENAME 468de9b36740b3355f0d5cd8be2ce28b340df120.patch
+)
+
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO opencv/opencv
@@ -21,6 +29,7 @@ vcpkg_from_github(
       0020-fix-narrow-filesystem.diff
       0021-fix-qt-gen-def.patch
       0022-android-use-vcpkg-cpu-features.patch
+      "${PATCH1_FILE}"
 )
 # Disallow accidental build of vendored copies
 file(GLOB third_party "${SOURCE_PATH}/3rdparty/*")

ports/opencv4/vcpkg.json

@@ -1,6 +1,7 @@
 {
   "name": "opencv4",
   "version": "4.12.0",
+  "port-version": 1,
   "description": "Open Source Computer Vision Library",
   "homepage": "https://opencv.org/",
   "documentation": "https://docs.opencv.org/4.12.0/",

ports/openmvg/0001-eigen_3.4.0.patch

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

ports/openmvg/0001-fix-build.patch

@@ -0,0 +1,302 @@
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 6879c4c..aa4167a 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -324,13 +324,18 @@ else()
+   if (TARGET flann::flann)
+     set(FLANN_LIBRARIES "flann::flann;flann::flann_cpp")
+   else()
+-    find_package(Flann QUIET)
++    set(FLANN_LIBRARIES "flann::flann_s;flann::flann_cpp_s")
+   endif()
++  set(FLANN_FOUND TRUE)
+ endif()
+ if (NOT FLANN_FOUND OR OpenMVG_USE_INTERNAL_FLANN)
+   set(FLANN_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/third_party/flann/src/cpp)
+ endif()
+ 
++# Used together in openMVG/LinearProgramming
++find_package(PkgConfig REQUIRED)
++pkg_check_modules(OSI_CLP_COIN  osi-clp clp osi coinutils  REQUIRED)
++if(0)
+ # ==============================================================================
+ # CoinUtils
+ # ==============================================================================
+@@ -391,6 +396,7 @@ if (OpenMVG_USE_INTERNAL_OSI AND OpenMVG_USE_INTERNAL_CLP AND OpenMVG_USE_INTERN
+   set_property(TARGET lib_Osi PROPERTY FOLDER OpenMVG/3rdParty/lib_Osi)
+   set_property(TARGET lib_OsiClpSolver PROPERTY FOLDER OpenMVG/3rdParty/lib_OsiClpSolver)
+ endif()
++endif()
+ 
+ # ==============================================================================
+ # Lemon
+@@ -402,7 +408,7 @@ 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)
+ endif()
+-find_package(Lemon QUIET)
++find_package(LEMON REQUIRED)
+ if (NOT LEMON_FOUND OR OpenMVG_USE_INTERNAL_LEMON)
+   set(LEMON_INCLUDE_DIRS
+     ${CMAKE_CURRENT_SOURCE_DIR}/third_party/lemon
+diff --git a/src/cmakeFindModules/OpenMVGConfig.cmake.in b/src/cmakeFindModules/OpenMVGConfig.cmake.in
+index 5a788b5..7a0afdb 100644
+--- a/src/cmakeFindModules/OpenMVGConfig.cmake.in
++++ b/src/cmakeFindModules/OpenMVGConfig.cmake.in
+@@ -61,7 +61,7 @@ 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_CURRENT_LIST_DIR}/../.." ABSOLUTE)
+ if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
+   OPENMVG_REPORT_NOT_FOUND(
+     "OpenMVG install root: ${CURRENT_ROOT_INSTALL_DIR}, "
+@@ -88,11 +88,14 @@ set(OpenMVG_USE_OPENMP "@OpenMVG_USE_OPENMP@")
+ 
+ # Find transitive dependencies if required
+ include(CMakeFindDependencyMacro)
++find_dependency(flann CONFIG)
++find_dependency(Ceres CONFIG)
++find_dependency(vlfeat CONFIG)
+ if (OpenMVG_USE_OPENMP)
+-  find_dependency(OpenMP REQUIRED)
++  find_dependency(OpenMP)
+ endif()
+ if (NOT OpenMVG_USE_INTERNAL_CEREAL)
+-  find_dependency(cereal REQUIRED)
++  find_dependency(cereal CONFIG)
+ endif()
+ 
+ # Import exported OpenMVG targets
+diff --git a/src/nonFree/sift/CMakeLists.txt b/src/nonFree/sift/CMakeLists.txt
+index 402a2d8..b2912ea 100644
+--- a/src/nonFree/sift/CMakeLists.txt
++++ b/src/nonFree/sift/CMakeLists.txt
+@@ -25,7 +25,9 @@ set(FEATS
+   vl/mathop.c
+   vl/random.c)
+ set_source_files_properties(${FEATS} PROPERTIES LANGUAGE C)
+-add_library(vlsift ${FEATS})
++find_package(vlfeat CONFIG REQUIRED)
++add_library(vlsift INTERFACE)
++target_link_libraries(vlsift INTERFACE unofficial::vlfeat::vl)
+ install(TARGETS vlsift DESTINATION lib EXPORT openMVG-targets)
+ set_property(TARGET vlsift PROPERTY FOLDER OpenMVG/nonFree)
+ install(
+diff --git a/src/nonFree/sift/SIFT_describer.hpp b/src/nonFree/sift/SIFT_describer.hpp
+index cd800b0..9586d9b 100644
+--- a/src/nonFree/sift/SIFT_describer.hpp
++++ b/src/nonFree/sift/SIFT_describer.hpp
+@@ -18,7 +18,7 @@
+ #include <numeric>
+ 
+ extern "C" {
+-#include "nonFree/sift/vl/sift.h"
++#include <vl/sift.h>
+ }
+ 
+ namespace openMVG {
+diff --git a/src/openMVG/exif/sensor_width_database/CMakeLists.txt b/src/openMVG/exif/sensor_width_database/CMakeLists.txt
+index 33d9f16..58b4761 100644
+--- a/src/openMVG/exif/sensor_width_database/CMakeLists.txt
++++ b/src/openMVG/exif/sensor_width_database/CMakeLists.txt
+@@ -2,4 +2,4 @@
+ UNIT_TEST(openMVG ParseDatabase "openMVG_testing;${STLPLUS_LIBRARY}")
+ 
+ # Installation rules
+-install(FILES sensor_width_camera_database.txt DESTINATION  ${CMAKE_INSTALL_LIBDIR}/openMVG)
++install(FILES sensor_width_camera_database.txt DESTINATION share/openmvg)
+diff --git a/src/openMVG/features/CMakeLists.txt b/src/openMVG/features/CMakeLists.txt
+index 7100ab0..2af4528 100644
+--- a/src/openMVG/features/CMakeLists.txt
++++ b/src/openMVG/features/CMakeLists.txt
+@@ -24,14 +24,13 @@ if (CMAKE_CXX_FLAGS)
+ endif()
+ target_include_directories(openMVG_features
+   PUBLIC
+-    $<BUILD_INTERFACE:${EIGEN_INCLUDE_DIRS}>
+     $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
+     $<INSTALL_INTERFACE:include>
+     $<INSTALL_INTERFACE:include/openMVG>
+ )
+ target_link_libraries(openMVG_features
+   PRIVATE openMVG_fast ${STLPLUS_LIBRARY}
+-  PUBLIC ${OPENMVG_LIBRARY_DEPENDENCIES} ${cereal_TARGET})
++  PUBLIC ${OPENMVG_LIBRARY_DEPENDENCIES} ${cereal_TARGET} Eigen3::Eigen)
+ 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/image/image_converter.hpp b/src/openMVG/image/image_converter.hpp
+index 94b4000..750708e 100644
+--- a/src/openMVG/image/image_converter.hpp
++++ b/src/openMVG/image/image_converter.hpp
+@@ -9,6 +9,8 @@
+ #ifndef OPENMVG_IMAGE_IMAGE_CONVERTER_HPP
+ #define OPENMVG_IMAGE_IMAGE_CONVERTER_HPP
+ 
++#include <cassert>
++
+ #include "openMVG/image/image_container.hpp"
+ #include "openMVG/image/pixel_types.hpp"
+ 
+diff --git a/src/openMVG/linearProgramming/CMakeLists.txt b/src/openMVG/linearProgramming/CMakeLists.txt
+index 4532161..20b9331 100644
+--- a/src/openMVG/linearProgramming/CMakeLists.txt
++++ b/src/openMVG/linearProgramming/CMakeLists.txt
+@@ -15,16 +15,12 @@ target_link_libraries(openMVG_linearProgramming
+   PUBLIC
+     openMVG_numeric
+   PRIVATE
+-    ${CLP_LIBRARIES}     # clp + solver wrapper
+-    ${COINUTILS_LIBRARY} # container tools
+-    ${OSI_LIBRARY}       # generic LP
++    ${OSI_CLP_COIN_LINK_LIBRARIES}
+ )
+ 
+ target_include_directories(openMVG_linearProgramming
+   PRIVATE
+-    ${CLP_INCLUDE_DIRS}
+-    ${COINUTILS_INCLUDE_DIRS}
+-    ${OSI_INCLUDE_DIRS}
++    ${OSI_CLP_COIN_INCLUDE_DIRS}
+   PUBLIC
+     $<INSTALL_INTERFACE:include>
+ )
+diff --git a/src/openMVG/matching/kvld/algorithm.h b/src/openMVG/matching/kvld/algorithm.h
+index c3fc3c6..765e5a4 100644
+--- a/src/openMVG/matching/kvld/algorithm.h
++++ b/src/openMVG/matching/kvld/algorithm.h
+@@ -10,6 +10,7 @@
+ #define OPENMVG_MATCHING_KVLD_ALGORITHM_H
+ 
+ #include <algorithm>
++#include <cassert>
+ #include <cmath>
+ #include <fstream>
+ #include "openMVG/image/image_container.hpp"
+diff --git a/src/openMVG/multiview/rotation_averaging_l1.cpp b/src/openMVG/multiview/rotation_averaging_l1.cpp
+index 7151bd5..dc738e7 100644
+--- a/src/openMVG/multiview/rotation_averaging_l1.cpp
++++ b/src/openMVG/multiview/rotation_averaging_l1.cpp
+@@ -191,7 +191,7 @@ unsigned int FilterRelativeRotations(
+     const Matrix3x3& Rj = Rs[relR.j];
+     const Matrix3x3& Rij = relR.Rij;
+     const Mat3 eRij(Rj.transpose()*Rij*Ri);
+-    const openMVG::Vec3 erij;
++    const openMVG::Vec3 erij{};
+     ceres::RotationMatrixToAngleAxis((const double*)eRij.data(), (double*)erij.data());
+     errors[r] = (float)erij.norm();
+   }
+@@ -371,7 +371,7 @@ inline void FillErrorMatrix(
+     const Matrix3x3& Rj = Rs[relR.j];
+     const Matrix3x3& Rij = relR.Rij;
+     const Mat3 eRij(Rj.transpose()*Rij*Ri);
+-    const openMVG::Vec3 erij;
++    const openMVG::Vec3 erij{};
+     ceres::RotationMatrixToAngleAxis((const double*)eRij.data(), (double*)erij.data());
+     b.block<3,1>(3*r,0) = erij;
+   }
+@@ -389,7 +389,7 @@ inline void CorrectMatrix(
+     Matrix3x3& Ri = Rs[r];
+     const uint32_t i = (r<nMainViewID ? r : r-1);
+     const openMVG::Vec3 eRid = openMVG::Vec3(x.block<3,1>(3*i,0));
+-    const Mat3 eRi;
++    const Mat3 eRi{};
+     ceres::AngleAxisToRotationMatrix((const double*)eRid.data(), (double*)eRi.data());
+     Ri = Ri*eRi;
+   }
+diff --git a/src/openMVG/multiview/solver_fundamental_kernel.cpp b/src/openMVG/multiview/solver_fundamental_kernel.cpp
+index 2ffd45a..bbf74b4 100644
+--- a/src/openMVG/multiview/solver_fundamental_kernel.cpp
++++ b/src/openMVG/multiview/solver_fundamental_kernel.cpp
+@@ -110,7 +110,7 @@ void EightPointSolver::Solve
+                          x2.colwise().homogeneous(),
+                          &epipolar_constraint);
+   // Find the F matrice in the nullspace of epipolar_constraint.
+-  Eigen::SelfAdjointEigenSolver<Mat9> solver
++  Eigen::SelfAdjointEigenSolver<Eigen::Matrix<double, 9, 9>> solver
+     (epipolar_constraint.transpose() * epipolar_constraint);
+   f = solver.eigenvectors().leftCols<1>();
+ 
+diff --git a/src/openMVG/numeric/CMakeLists.txt b/src/openMVG/numeric/CMakeLists.txt
+index 1407bdd..a754a46 100644
+--- a/src/openMVG/numeric/CMakeLists.txt
++++ b/src/openMVG/numeric/CMakeLists.txt
+@@ -22,7 +22,6 @@ if (CMAKE_CXX_FLAGS)
+ endif()
+ target_include_directories(openMVG_numeric
+   PUBLIC
+-    $<BUILD_INTERFACE:${EIGEN_INCLUDE_DIRS}>
+     $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
+     $<INSTALL_INTERFACE:include>
+ )
+@@ -30,8 +29,7 @@ if (DEFINED OpenMVG_USE_INTERNAL_EIGEN)
+   target_include_directories(openMVG_numeric PUBLIC
+     $<INSTALL_INTERFACE:${CMAKE_INSTALL_PREFIX}/include/openMVG/third_party/eigen/>)
+ else()
+-  target_include_directories(openMVG_numeric PUBLIC
+-    $<INSTALL_INTERFACE:${EIGEN_INCLUDE_DIRS}>)
++  target_link_libraries(openMVG_numeric PUBLIC Eigen3::Eigen)
+ endif()
+ 
+ if (MSVC)
+diff --git a/src/openMVG/numeric/eigen_alias_definition.hpp b/src/openMVG/numeric/eigen_alias_definition.hpp
+index cd8e398..7470272 100644
+--- a/src/openMVG/numeric/eigen_alias_definition.hpp
++++ b/src/openMVG/numeric/eigen_alias_definition.hpp
+@@ -21,6 +21,7 @@
+ #include <initializer_list>
+ #include <memory>
+ #include <vector>
++#include <cassert>
+ 
+ // Extend EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION with initializer list support.
+ #define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION_INITIALIZER_LIST(...)       \
+diff --git a/src/openMVG/system/CMakeLists.txt b/src/openMVG/system/CMakeLists.txt
+index 5ed532b..a7b5d07 100644
+--- a/src/openMVG/system/CMakeLists.txt
++++ b/src/openMVG/system/CMakeLists.txt
+@@ -9,7 +9,6 @@ set_property(TARGET openMVG_system PROPERTY FOLDER OpenMVG/OpenMVG)
+ install(TARGETS openMVG_system DESTINATION ${CMAKE_INSTALL_LIBDIR} EXPORT openMVG-targets)
+ 
+ add_library(openMVG_progress_test INTERFACE)
+-target_link_libraries(openMVG_progress_test INTERFACE ${OPENMVG_LIBRARY_DEPENDENCIES})
+-target_include_directories(openMVG_progress_test INTERFACE ${EIGEN_INCLUDE_DIRS})
++target_link_libraries(openMVG_progress_test INTERFACE ${OPENMVG_LIBRARY_DEPENDENCIES} Eigen3::Eigen)
+ 
+ UNIT_TEST(openMVG progress "openMVG_system;openMVG_progress_test;openMVG_testing")
+diff --git a/src/software/SfM/CMakeLists.txt b/src/software/SfM/CMakeLists.txt
+index 893abd3..430d8a4 100644
+--- a/src/software/SfM/CMakeLists.txt
++++ b/src/software/SfM/CMakeLists.txt
+@@ -222,8 +222,8 @@ target_link_libraries(openMVG_main_PointsFiltering
+     openMVG_system
+     openMVG_sfm
+     ${STLPLUS_LIBRARY}
++    Eigen3::Eigen
+ )
+-target_include_directories(openMVG_main_PointsFiltering PRIVATE ${EIGEN_INCLUDE_DIRS})
+ 
+ add_executable(openMVG_main_ChangeLocalOrigin main_ChangeLocalOrigin.cpp)
+ target_link_libraries(openMVG_main_ChangeLocalOrigin
+diff --git a/src/software/SfM/clustering/domSetLibrary/CMakeLists.txt b/src/software/SfM/clustering/domSetLibrary/CMakeLists.txt
+index 41e8e06..013f9c7 100644
+--- a/src/software/SfM/clustering/domSetLibrary/CMakeLists.txt
++++ b/src/software/SfM/clustering/domSetLibrary/CMakeLists.txt
+@@ -1,4 +1,4 @@
+ add_library( domset STATIC domset.cc domset.h types.h )
+-target_include_directories(domset PUBLIC ${EIGEN_INCLUDE_DIRS})
++target_link_libraries(domset PUBLIC Eigen3::Eigen)
+ target_link_libraries(domset PRIVATE openMVG_matching)
+ set_property(TARGET domset PROPERTY FOLDER OpenMVG/software/clustering)
+diff --git a/src/testing/CMakeLists.txt b/src/testing/CMakeLists.txt
+index b4fe7ae..efbf7cc 100644
+--- a/src/testing/CMakeLists.txt
++++ b/src/testing/CMakeLists.txt
+@@ -1,3 +1,3 @@
+ add_library(openMVG_testing INTERFACE)
+-target_include_directories(openMVG_testing INTERFACE ${CMAKE_SOURCE_DIR};${EIGEN_INCLUDE_DIRS})
+-target_link_libraries(openMVG_testing INTERFACE openMVG_numeric)
++target_include_directories(openMVG_testing INTERFACE ${CMAKE_SOURCE_DIR})
++target_link_libraries(openMVG_testing INTERFACE openMVG_numeric Eigen3::Eigen)

ports/openmvg/build_fixes.patch

@@ -1,132 +0,0 @@
-diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
-index 6879c4c..aa4167a 100644
---- a/src/CMakeLists.txt
-+++ b/src/CMakeLists.txt
-@@ -324,13 +324,18 @@ else()
-   if (TARGET flann::flann)
-     set(FLANN_LIBRARIES "flann::flann;flann::flann_cpp")
-   else()
--    find_package(Flann QUIET)
-+    set(FLANN_LIBRARIES "flann::flann_s;flann::flann_cpp_s")
-   endif()
-+  set(FLANN_FOUND TRUE)
- endif()
- if (NOT FLANN_FOUND OR OpenMVG_USE_INTERNAL_FLANN)
-   set(FLANN_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/third_party/flann/src/cpp)
- endif()
- 
-+# Used together in openMVG/LinearProgramming
-+find_package(PkgConfig REQUIRED)
-+pkg_check_modules(OSI_CLP_COIN  osi-clp clp osi coinutils  REQUIRED)
-+if(0)
- # ==============================================================================
- # CoinUtils
- # ==============================================================================
-@@ -391,6 +396,7 @@ if (OpenMVG_USE_INTERNAL_OSI AND OpenMVG_USE_INTERNAL_CLP AND OpenMVG_USE_INTERN
-   set_property(TARGET lib_Osi PROPERTY FOLDER OpenMVG/3rdParty/lib_Osi)
-   set_property(TARGET lib_OsiClpSolver PROPERTY FOLDER OpenMVG/3rdParty/lib_OsiClpSolver)
- endif()
-+endif()
- 
- # ==============================================================================
- # Lemon
-@@ -402,7 +408,7 @@ 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)
- endif()
--find_package(Lemon QUIET)
-+find_package(LEMON REQUIRED)
- if (NOT LEMON_FOUND OR OpenMVG_USE_INTERNAL_LEMON)
-   set(LEMON_INCLUDE_DIRS
-     ${CMAKE_CURRENT_SOURCE_DIR}/third_party/lemon
-diff --git a/src/cmakeFindModules/OpenMVGConfig.cmake.in b/src/cmakeFindModules/OpenMVGConfig.cmake.in
-index 5a788b5..7a0afdb 100644
---- a/src/cmakeFindModules/OpenMVGConfig.cmake.in
-+++ b/src/cmakeFindModules/OpenMVGConfig.cmake.in
-@@ -61,7 +61,7 @@ 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_CURRENT_LIST_DIR}/../.." ABSOLUTE)
- if (NOT EXISTS ${CURRENT_ROOT_INSTALL_DIR})
-   OPENMVG_REPORT_NOT_FOUND(
-     "OpenMVG install root: ${CURRENT_ROOT_INSTALL_DIR}, "
-@@ -88,11 +88,14 @@ set(OpenMVG_USE_OPENMP "@OpenMVG_USE_OPENMP@")
- 
- # Find transitive dependencies if required
- include(CMakeFindDependencyMacro)
-+find_dependency(flann CONFIG)
-+find_dependency(Ceres CONFIG)
-+find_dependency(vlfeat CONFIG)
- if (OpenMVG_USE_OPENMP)
--  find_dependency(OpenMP REQUIRED)
-+  find_dependency(OpenMP)
- endif()
- if (NOT OpenMVG_USE_INTERNAL_CEREAL)
--  find_dependency(cereal REQUIRED)
-+  find_dependency(cereal CONFIG)
- endif()
- 
- # Import exported OpenMVG targets
-diff --git a/src/nonFree/sift/CMakeLists.txt b/src/nonFree/sift/CMakeLists.txt
-index 402a2d8..b2912ea 100644
---- a/src/nonFree/sift/CMakeLists.txt
-+++ b/src/nonFree/sift/CMakeLists.txt
-@@ -25,7 +25,9 @@ set(FEATS
-   vl/mathop.c
-   vl/random.c)
- set_source_files_properties(${FEATS} PROPERTIES LANGUAGE C)
--add_library(vlsift ${FEATS})
-+find_package(vlfeat CONFIG REQUIRED)
-+add_library(vlsift INTERFACE)
-+target_link_libraries(vlsift INTERFACE unofficial::vlfeat::vl)
- install(TARGETS vlsift DESTINATION lib EXPORT openMVG-targets)
- set_property(TARGET vlsift PROPERTY FOLDER OpenMVG/nonFree)
- install(
-diff --git a/src/nonFree/sift/SIFT_describer.hpp b/src/nonFree/sift/SIFT_describer.hpp
-index cd800b0..9586d9b 100644
---- a/src/nonFree/sift/SIFT_describer.hpp
-+++ b/src/nonFree/sift/SIFT_describer.hpp
-@@ -18,7 +18,7 @@
- #include <numeric>
- 
- extern "C" {
--#include "nonFree/sift/vl/sift.h"
-+#include <vl/sift.h>
- }
- 
- namespace openMVG {
-diff --git a/src/openMVG/exif/sensor_width_database/CMakeLists.txt b/src/openMVG/exif/sensor_width_database/CMakeLists.txt
-index 33d9f16..58b4761 100644
---- a/src/openMVG/exif/sensor_width_database/CMakeLists.txt
-+++ b/src/openMVG/exif/sensor_width_database/CMakeLists.txt
-@@ -2,4 +2,4 @@
- UNIT_TEST(openMVG ParseDatabase "openMVG_testing;${STLPLUS_LIBRARY}")
- 
- # Installation rules
--install(FILES sensor_width_camera_database.txt DESTINATION  ${CMAKE_INSTALL_LIBDIR}/openMVG)
-+install(FILES sensor_width_camera_database.txt DESTINATION share/openmvg)
-diff --git a/src/openMVG/linearProgramming/CMakeLists.txt b/src/openMVG/linearProgramming/CMakeLists.txt
-index 3a8a402..24151e9 100644
---- a/src/openMVG/linearProgramming/CMakeLists.txt
-+++ b/src/openMVG/linearProgramming/CMakeLists.txt
-@@ -15,16 +15,12 @@ target_link_libraries(openMVG_linearProgramming
-   PUBLIC
-     openMVG_numeric
-   PRIVATE
--    ${CLP_LIBRARIES}     # clp + solver wrapper
--    ${COINUTILS_LIBRARY} # container tools
--    ${OSI_LIBRARY}       # generic LP
-+    ${OSI_CLP_COIN_LINK_LIBRARIES}
- )
- 
- target_include_directories(openMVG_linearProgramming
-   PRIVATE
--    ${CLP_INCLUDE_DIRS}
--    ${COINUTILS_INCLUDE_DIRS}
--    ${OSI_INCLUDE_DIRS}
-+    ${OSI_CLP_COIN_INCLUDE_DIRS}
-   PUBLIC
-     $<INSTALL_INTERFACE:include>
- )

ports/openmvg/portfile.cmake

@@ -11,10 +11,9 @@ vcpkg_from_github(
     REF 01193a245ee3c36458e650b1cf4402caad8983ef  # v2.1
     SHA512 ee98ca26426e7129917c920cd59817cb5d4faf1f5aa12f4085f9ac431875e9ec23ffee7792d65286bad4b922c474c56d5c2f2008b38fddf1ede096644f13ad47
     PATCHES
-        build_fixes.patch
+        0001-fix-build.patch
-        0001-eigen_3.4.0.patch
+        0002-fast-c-language.patch
-        fast-c-language.diff
+        0003-no-absolute-paths.patch
-        no-absolute-paths.patch
 )
 file(REMOVE_RECURSE 
     "${SOURCE_PATH}/src/cmakeFindModules/FindEigen.cmake"

ports/openmvg/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "openmvg",
   "version": "2.1",
-  "port-version": 2,
+  "port-version": 3,
   "description": "open Multiple View Geometry library. Basis for 3D computer vision and Structure from Motion.",
   "license": null,
   "supports": "(x86 | x64 | arm64) & !xbox",

ports/openmvs/fix-eigen3.patch

@@ -0,0 +1,23 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 03225b8..e343aba 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -184,14 +184,12 @@ if(Boost_FOUND)
+ 	SET(_USE_BOOST TRUE)
+ endif()
+ 
+-FIND_PACKAGE(Eigen3 REQUIRED)
+-if(EIGEN3_FOUND)
+-	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${EIGEN3_INCLUDE_DIR})
+-	INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
++FIND_PACKAGE(Eigen3 CONFIG REQUIRED)
++if(Eigen3_FOUND)
+ 	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_EIGEN)
+-	ADD_DEFINITIONS(${EIGEN3_DEFINITIONS})
++	LINK_LIBRARIES(Eigen3::Eigen)
+ 	SET(_USE_EIGEN TRUE)
+-	MESSAGE(STATUS "Eigen ${EIGEN3_VERSION} found (include: ${EIGEN3_INCLUDE_DIR})")
++	MESSAGE(STATUS "Eigen ${Eigen3_VERSION} found")
+ endif()
+ 
+ FIND_PACKAGE(OpenCV REQUIRED)

ports/openmvs/fix_no_zstd.patch

@@ -1,17 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 39ec359..ee90ae6 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -177,10 +177,8 @@ if(Boost_FOUND)
- 	LIST(APPEND OpenMVS_DEFINITIONS -D_USE_BOOST)
- 	ADD_DEFINITIONS(${Boost_DEFINITIONS})
- 	LINK_DIRECTORIES(${Boost_LIBRARY_DIRS})
--	if(NOT MSVC AND DEFINED CMAKE_TOOLCHAIN_FILE)
--		# work around this missing library link in vcpkg
--		LIST(APPEND Boost_LIBRARIES zstd)
--	endif()
-+    # work around this missing library link in vcpkg
-+    LIST(APPEND Boost_LIBRARIES zstd)
- 	SET(_USE_BOOST TRUE)
- endif()
- 

ports/openmvs/portfile.cmake

@@ -11,6 +11,7 @@ vcpkg_from_github(
         no-absolute-paths.patch
         fix-static-build.patch
         fix-lib-name-conflict.patch
+        fix-eigen3.patch
 )
 
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS

ports/openmvs/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "openmvs",
   "version": "2.1.0",
-  "port-version": 7,
+  "port-version": 8,
   "description": "OpenMVS: open Multi-View Stereo reconstruction library",
   "homepage": "https://cdcseacave.github.io/openMVS",
   "license": "AGPL-3.0-only",

ports/pagmo2/0004-support-eigen3-5.patch

@@ -0,0 +1,22 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index e422554..984ae24 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -163,7 +163,7 @@ endif()
+ 
+ # Eigen3
+ if(PAGMO_WITH_EIGEN3)
+-    find_package(Eigen3 3.3 REQUIRED NO_MODULE)
++    find_package(Eigen3 3.3...5 REQUIRED NO_MODULE)
+ endif()
+ 
+ # NLopt
+@@ -456,7 +456,7 @@ install(TARGETS pagmo
+ # Setup of the optional deps.
+ set(_PAGMO_CONFIG_OPTIONAL_DEPS)
+ if(PAGMO_WITH_EIGEN3)
+-    set(_PAGMO_CONFIG_OPTIONAL_DEPS "${_PAGMO_CONFIG_OPTIONAL_DEPS}find_package(Eigen3 3.3 REQUIRED NO_MODULE)\n")
++    set(_PAGMO_CONFIG_OPTIONAL_DEPS "${_PAGMO_CONFIG_OPTIONAL_DEPS}find_package(Eigen3 3.3...5 REQUIRED NO_MODULE)\n")
+ endif()
+ if(PAGMO_WITH_NLOPT)
+     set(_PAGMO_CONFIG_OPTIONAL_DEPS "${_PAGMO_CONFIG_OPTIONAL_DEPS}find_package(NLopt 2.6 REQUIRED NO_MODULE)\n")

ports/pagmo2/portfile.cmake

@@ -5,14 +5,15 @@ vcpkg_from_github(
     SHA512 9ebe7f63b907607ea5762e56a884be62630efaca3f45d9ba9ad85ca1818d60d09864422bd075c2653aea1a14609fe9ad6520297aee5a00e07fa88df45872cef9
     HEAD_REF master
     PATCHES
-        doxygen.patch
+        0001-doxygen.patch
-        find-tbb.patch
+        0002-find-tbb.patch
-        disable-werror.patch
+        0003-disable-werror.patch
+        0004-support-eigen3-5.patch
 )
 
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
-   FEATURES
+    FEATURES
-   nlopt PAGMO_WITH_NLOPT
+        nlopt PAGMO_WITH_NLOPT
 )
 string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "static" PAGMO_BUILD_STATIC_LIBRARY)
 vcpkg_cmake_configure(

ports/pagmo2/vcpkg.json

@@ -1,6 +1,7 @@
 {
   "name": "pagmo2",
   "version": "2.19.1",
+  "port-version": 1,
   "description": "A C++ platform to perform parallel computations of optimization tasks (global and local) via the asynchronous generalized island model.",
   "homepage": "https://esa.github.io/pagmo2/",
   "license": "GPL-3.0-or-later OR LGPL-3.0-or-later",

ports/pcl/portfile.cmake

@@ -3,7 +3,11 @@ vcpkg_download_distfile(BOOST_1_89_0_COMPAT_PATCH
     FILENAME PointCloudLibrary-pcl-boost-1-89-0-compat.patch
     SHA512 2fefaeaeda9fe423b481cddf4de85eff58418286f24f065be8610216e87d8faeb869406b72b3a7158abd22d17e25742b54f6b9eb3c81f82a1718f938bb8e0d26
 )
-
+vcpkg_download_distfile(EIGEN3_5_0_0_COMPAT_PATCH
+    URLS https://github.com/PointCloudLibrary/pcl/commit/2d6929bdcd98beaa28fa8ee3a105beb566f16347.patch?full_index=1
+    FILENAME PointCloudLibrary-pcl-eigen3-5-0-0-compat.patch
+    SHA512 993a1f29d8dd62cee526a92f0c2bf62dca566428523166abfb74337da137d47dcf97febb9d98b2a17ee6cea331045350bfb37b221403c08214beaebb7120bf41
+)
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO PointCloudLibrary/pcl
@@ -17,6 +21,7 @@ vcpkg_from_github(
         install-examples.patch
         fix-clang-cl.patch
         "${BOOST_1_89_0_COMPAT_PATCH}"
+        "${EIGEN3_5_0_0_COMPAT_PATCH}"
 )
 
 string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "dynamic" PCL_SHARED_LIBS)

ports/pcl/vcpkg.json

@@ -1,6 +1,7 @@
 {
   "name": "pcl",
   "version": "1.15.1",
+  "port-version": 1,
   "description": "Point Cloud Library (PCL) is open source library for 2D/3D image and point cloud processing.",
   "homepage": "https://github.com/PointCloudLibrary/pcl",
   "license": "BSD-3-Clause",

ports/rbdl/0001-fix-eigen3.patch

@@ -0,0 +1,155 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index d25936d..3a26204 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -69,15 +69,9 @@ OPTION (RBDL_USE_PYTHON_2 "Use python 2 instead of python 3" OFF)
+ OPTION (RBDL_BUILD_CASADI "Use the CasADi backend" OFF)
+ OPTION (RBDL_VCPKG_BUILD "Building RBDL in vcpkg environment" OFF)
+ 
+-
+ # Find and use the system's Eigen3 library
+-FIND_PACKAGE (Eigen3 3.0.0)
+-
+-IF (NOT EIGEN3_FOUND)
+-    MESSAGE (WARNING "Could not find Eigen3 on your system. Please install it!")
+-ENDIF (NOT EIGEN3_FOUND)
+-
+-INCLUDE_DIRECTORIES (${EIGEN3_INCLUDE_DIR})
++FIND_PACKAGE (Eigen3 REQUIRED)
++LINK_LIBRARIES (Eigen3::Eigen)
+ 
+ # Addons
+ IF (RBDL_BUILD_ADDON_URDFREADER)
+diff --git a/addons/urdfreader/thirdparty/CMakeLists.txt b/addons/urdfreader/thirdparty/CMakeLists.txt
+index a57f5a7..77a36dd 100644
+--- a/addons/urdfreader/thirdparty/CMakeLists.txt
++++ b/addons/urdfreader/thirdparty/CMakeLists.txt
+@@ -1,7 +1,9 @@
+-FIND_FILE(URDF_MODULE CMakeLists.txt PATHS ${CMAKE_CURRENT_SOURCE_DIR}/urdfparser NO_DEFAULT_PATH)
+-IF (URDF_MODULE STREQUAL URDF_MODULE-NOTFOUND)
+-  MESSAGE(FATAL_ERROR "The urdfreader module was not initalized correctly! Please make sure that you recursively cloned rbdl. For more information take a closer look at the README!")
+-ENDIF(URDF_MODULE STREQUAL URDF_MODULE-NOTFOUND)
++SET(URDF_MODULE "${CMAKE_CURRENT_SOURCE_DIR}/urdfparser/CMakeLists.txt")
++IF (NOT EXISTS "${URDF_MODULE}")
++  MESSAGE(FATAL_ERROR "The urdfreader module was not initialized correctly!\n"
++    "The required file '${URDF_MODULE}' does not exist.\n"
++    "Please make sure that you recursively cloned rbdl. For more information take a closer look at the README!")
++ENDIF()
+ ADD_SUBDIRECTORY(
+ 	urdfparser
+ )
+diff --git a/include/rbdl/rbdl_eigenmath.h b/include/rbdl/rbdl_eigenmath.h
+index 917eb41..8cf2f8c 100644
+--- a/include/rbdl/rbdl_eigenmath.h
++++ b/include/rbdl/rbdl_eigenmath.h
+@@ -44,15 +44,11 @@ class RBDL_TEMPLATE_DLLAPI Vector2_t : public Eigen::Vector2d
+         const double& v0, const double& v1
+         )
+     {
+-      Base::_check_template_params();
+-
+       (*this) << v0, v1;
+     }
+ 
+     void set(const double& v0, const double& v1)
+     {
+-      Base::_check_template_params();
+-
+       (*this) << v0, v1;
+     }
+ };
+@@ -81,15 +77,11 @@ class RBDL_TEMPLATE_DLLAPI Vector3_t : public Eigen::Vector3d
+         const double& v0, const double& v1, const double& v2
+         )
+     {
+-      Base::_check_template_params();
+-
+       (*this) << v0, v1, v2;
+     }
+ 
+     void set(const double& v0, const double& v1, const double& v2)
+     {
+-      Base::_check_template_params();
+-
+       (*this) << v0, v1, v2;
+     }
+ };
+@@ -120,8 +112,6 @@ class RBDL_TEMPLATE_DLLAPI Matrix3_t : public Eigen::Matrix3d
+         const double& m20, const double& m21, const double& m22
+         )
+     {
+-      Base::_check_template_params();
+-
+       (*this)
+         << m00, m01, m02,
+         m10, m11, m12,
+@@ -154,15 +144,11 @@ class RBDL_TEMPLATE_DLLAPI Vector4_t : public Eigen::Vector4d
+         const double& v0, const double& v1, const double& v2, const double& v3
+         )
+     {
+-      Base::_check_template_params();
+-
+       (*this) << v0, v1, v2, v3;
+     }
+ 
+     void set(const double& v0, const double& v1, const double& v2, const double& v3)
+     {
+-      Base::_check_template_params();
+-
+       (*this) << v0, v1, v2, v3;
+     }
+ };
+@@ -192,8 +178,6 @@ class RBDL_TEMPLATE_DLLAPI SpatialVector_t : public Eigen::Matrix<double, 6, 1>
+         const double& v3, const double& v4, const double& v5
+         )
+     {
+-      Base::_check_template_params();
+-
+       (*this) << v0, v1, v2, v3, v4, v5;
+     }
+ 
+@@ -202,8 +186,6 @@ class RBDL_TEMPLATE_DLLAPI SpatialVector_t : public Eigen::Matrix<double, 6, 1>
+         const double& v3, const double& v4, const double& v5
+         )
+     {
+-      Base::_check_template_params();
+-
+       (*this) << v0, v1, v2, v3, v4, v5;
+     }
+ };
+@@ -235,8 +217,6 @@ class RBDL_TEMPLATE_DLLAPI Matrix4_t : public Eigen::Matrix<double, 4, 4>
+         const Scalar& m30, const Scalar& m31, const Scalar& m32, const Scalar& m33
+         )
+     {
+-      Base::_check_template_params();
+-
+       (*this)
+         << m00, m01, m02, m03
+         , m10, m11, m12, m13
+@@ -252,8 +232,6 @@ class RBDL_TEMPLATE_DLLAPI Matrix4_t : public Eigen::Matrix<double, 4, 4>
+         const Scalar& m30, const Scalar& m31, const Scalar& m32, const Scalar& m33
+         )
+     {
+-      Base::_check_template_params();
+-
+       (*this)
+         << m00, m01, m02, m03
+         , m10, m11, m12, m13
+@@ -292,8 +270,6 @@ class RBDL_TEMPLATE_DLLAPI SpatialMatrix_t : public Eigen::Matrix<double, 6, 6>
+         const Scalar& m50, const Scalar& m51, const Scalar& m52, const Scalar& m53, const Scalar& m54, const Scalar& m55
+         )
+     {
+-      Base::_check_template_params();
+-
+       (*this)
+         << m00, m01, m02, m03, m04, m05
+         , m10, m11, m12, m13, m14, m15
+@@ -313,8 +289,6 @@ class RBDL_TEMPLATE_DLLAPI SpatialMatrix_t : public Eigen::Matrix<double, 6, 6>
+         const Scalar& m50, const Scalar& m51, const Scalar& m52, const Scalar& m53, const Scalar& m54, const Scalar& m55
+         )
+     {
+-      Base::_check_template_params();
+-
+       (*this)
+         << m00, m01, m02, m03, m04, m05
+         , m10, m11, m12, m13, m14, m15

ports/rbdl/portfile.cmake

@@ -3,18 +3,20 @@ string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "static" RBDL_STATIC)
 vcpkg_from_github(
   OUT_SOURCE_PATH SOURCE_PATH
   REPO rbdl/rbdl
-  REF 619175a441ba769ab1be34a727644f4dd13bf841
+  REF "v${VERSION}"
-  SHA512 0c6cd78c4385e582f481a6f92d5c3a01f5d3bcd3a7cc3417a504209dae1856d788157db8d9f4173493619f103dea323bd57ddae0bc63162d72b03031dae9a822
+  SHA512 85128dd7184a876d541278ebe0f986774c7c891b4925f320e14932f6809f8bbd07ef4b5d915afe9b49c2245bd494012993ae6643631f4157e3d217e9eccb6e48
   HEAD_REF master
+  PATCHES
+      0001-fix-eigen3.patch
 )
 
-vcpkg_from_github(
-  OUT_SOURCE_PATH PARSER_SOURCE_PATH
-  REPO ORB-HD/URDF_Parser
-  REF 8fcc3174743cf3e7561ffb6625524f8133161df4
-  SHA512 6cba22e98f23e74fd7c1dcb356d88b5e24c61913dc900e584ed313b1fcce5d6832ceafcf15a3ea7a56714ab82d3cd7d9f4350d3d242614561c836bd4735e3f4f
-)
 if(NOT EXISTS "${SOURCE_PATH}/addons/urdfreader/thirdparty/urdfparser/CMakeLists.txt")
+    vcpkg_from_github(
+        OUT_SOURCE_PATH PARSER_SOURCE_PATH
+        REPO ORB-HD/URDF_Parser
+        REF 8fcc3174743cf3e7561ffb6625524f8133161df4
+        SHA512 6cba22e98f23e74fd7c1dcb356d88b5e24c61913dc900e584ed313b1fcce5d6832ceafcf15a3ea7a56714ab82d3cd7d9f4350d3d242614561c836bd4735e3f4f
+    )
     file(REMOVE_RECURSE "${SOURCE_PATH}/addons/urdfreader/thirdparty/urdfparser")
     file(RENAME "${PARSER_SOURCE_PATH}" "${SOURCE_PATH}/addons/urdfreader/thirdparty/urdfparser")
 endif()
@@ -38,4 +40,4 @@ vcpkg_copy_pdbs()
 vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/RBDL PACKAGE_NAME RBDL)
 vcpkg_fixup_pkgconfig()
 
-file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
+vcpkg_install_copyright(FILE_LIST "${SOURCE_PATH}/LICENSE")

ports/rbdl/vcpkg.json

@@ -1,7 +1,6 @@
 {
   "name": "rbdl",
-  "version": "3.3.0",
+  "version": "3.3.1",
-  "port-version": 7,
   "description": "Rigid Body Dynamics Library",
   "homepage": "https://github.com/rbdl/rbdl",
   "dependencies": [

ports/robotraconteur-companion/0001-support-eigen3-5.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 531f4c5..beff998 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -13,7 +13,7 @@ endif()
+ 
+ find_package(RobotRaconteur 0.17.0 REQUIRED)
+ find_package(yaml-cpp REQUIRED)
+-find_package(Eigen3 3.3 REQUIRED NO_MODULE)
++find_package(Eigen3 3.3...5 REQUIRED NO_MODULE)
+ find_package(OpenCV)
+ 
+ if(NOT IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/robdef/group1")

ports/robotraconteur-companion/portfile.cmake

@@ -4,6 +4,8 @@ vcpkg_from_github(
     REF "v${VERSION}"
     SHA512 8bee3f71f6f1cedc6af9b30d32ed16515c2c117a4d43c3b6304c799fe90447056c5e447f573c96018c57112d9c174de422c16eba3a27b5c1343e88377d7e4117
     HEAD_REF master
+    PATCHES
+        0001-support-eigen3-5.patch
 )
 
 vcpkg_from_github(

ports/robotraconteur-companion/vcpkg.json

@@ -1,6 +1,7 @@
 {
   "name": "robotraconteur-companion",
   "version-semver": "0.4.2",
+  "port-version": 1,
   "homepage": "https://github.com/robotraconteur/robotraconteur_companion",
   "license": "Apache-2.0",
   "supports": "(windows & (x86 | x64)) | (linux & (x86 | x64 | arm64 | arm32)) | (osx & (x64 | arm64))",

ports/scenepic/0001-fix-dependencies.patch

@@ -1,8 +1,27 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a2a14bb..7a06c65 100644
+index 6df6915..de73c67 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -186,8 +186,8 @@ endif()
+@@ -100,13 +100,11 @@ FetchContent_Declare(
+ 
+ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW) 
+ 
+-if(NOT TARGET Eigen3::Eigen)
+-  FetchContent_GetProperties(eigen)
+-  if(NOT eigen_POPULATED)
+-    FetchContent_Populate(eigen)
+-    set( BUILD_TESTING OFF )
+-    add_subdirectory(${eigen_SOURCE_DIR} ${eigen_BINARY_DIR} EXCLUDE_FROM_ALL)
+-  endif()
++find_package(Eigen3 REQUIRED)
++
++if(Eigen3_FOUND)
++  set( BUILD_TESTING OFF )
++  include_directories(${EIGEN3_INCLUDE_DIR})
+   if(NOT TARGET Eigen3::Eigen)
+     add_library(Eigen3::Eigen ALIAS eigen)
+   endif()
+@@ -194,8 +192,8 @@ endif()
  # -------------------- Install ------------------------------------
  
  set(INSTALL_CONFIGDIR cmake)
@@ -13,7 +32,7 @@ index a2a14bb..7a06c65 100644
  
  install(TARGETS scenepic 
    EXPORT scenepic-targets
-@@ -195,7 +195,7 @@ install(TARGETS scenepic
+@@ -203,7 +201,7 @@ install(TARGETS scenepic
    LIBRARY DESTINATION ${INSTALL_LIBDIR}
  )
  
@@ -22,6 +41,18 @@ index a2a14bb..7a06c65 100644
    if(${CMAKE_BUILD_TYPE} STREQUAL "Debug")
      install(FILES
        $<TARGET_FILE_DIR:scenepic>/scenepic.pdb
+diff --git a/src/include/scenepic/matrix.h b/src/include/scenepic/matrix.h
+index c93e3c5..0e723da 100644
+--- a/src/include/scenepic/matrix.h
++++ b/src/include/scenepic/matrix.h
+@@ -9,6 +9,7 @@
+ 
+ #include <Eigen/Core>
+ #include <Eigen/Sparse>
++#include <cassert>
+ #include <cstdint>
+ #include <limits>
+ #include <string>
 diff --git a/src/scenepic/CMakeLists.txt b/src/scenepic/CMakeLists.txt
 index f3d9673..916ab28 100644
 --- a/src/scenepic/CMakeLists.txt

ports/scenepic/fix_dependencies.patch

@@ -1,23 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a2db3db..a10a942 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -100,13 +100,11 @@ FetchContent_Declare(
- 
- set(CMAKE_POLICY_DEFAULT_CMP0077 NEW) 
- 
--if(NOT TARGET Eigen3::Eigen)
--  FetchContent_GetProperties(eigen)
--  if(NOT eigen_POPULATED)
--    FetchContent_Populate(eigen)
--    set( BUILD_TESTING OFF )
--    add_subdirectory(${eigen_SOURCE_DIR} ${eigen_BINARY_DIR} EXCLUDE_FROM_ALL)
--  endif()
-+find_package(Eigen3 3.4.0 REQUIRED)
-+
-+if(Eigen3_FOUND)
-+  set( BUILD_TESTING OFF )
-+  include_directories(${EIGEN3_INCLUDE_DIR})
-   if(NOT TARGET Eigen3::Eigen)
-     add_library(Eigen3::Eigen ALIAS eigen)
-   endif()

ports/scenepic/portfile.cmake

@@ -7,8 +7,7 @@ vcpkg_from_github(
     SHA512 79c20697051ef7061a51cc73f232e5ba83f8bc5a62ee3b9a4d55182112b201c805c25461fcd6699cc6db70c4439b116d1d27e66cd4e431471438ac7968836eed
     HEAD_REF main
     PATCHES
-        "fix_dependencies.patch"
+        0001-fix-dependencies.patch
-        "fix-CMakeInstall.patch"
 )
 
 # Run npm install and npm run build on the cloned project    

ports/scenepic/vcpkg.json

@@ -1,6 +1,7 @@
 {
   "name": "scenepic",
   "version": "1.1.1",
+  "port-version": 1,
   "description": "A Powerful, easy to use, and portable visualization toolkit for mixed 3D and 2D content",
   "homepage": "https://microsoft.github.io/scenepic/",
   "license": "MIT",

ports/sophus/0001-support-eigen3-5.patch

@@ -0,0 +1,13 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c4f3185..5147fa4 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -49,7 +49,7 @@ endif()
+ # example defined by a parent project including Sophus via `add_subdirectory`.)
+ 
+ if(NOT TARGET Eigen3::Eigen)
+-  find_package(Eigen3 3.4.0 REQUIRED)
++  find_package(Eigen3 REQUIRED)
+ endif()
+ 
+ # Define interface library target

ports/sophus/portfile.cmake

@@ -1,9 +1,11 @@
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO strasdat/Sophus
-    REF 1.24.6-rc1
+    REF 1.24.6
-    SHA512 c1ba40b823cabce3fe83f528837ac111f4d746d6679fb920abd7be32de149c0937bb9a5049da156aec28a9b9fedbebae76a056de12707c01c5cb40dc9197c3e4
+    SHA512 cbc01e92c8361937194bed320ac84a7cfd8b71ecc3a842d3d3c9796ff52a08d13aa0b4f30184c4c7ddc223da0141a80176382c8b25a328e53fa00c4627511ec3
     HEAD_REF main
+    PATCHES
+        0001-support-eigen3-5.patch
 )
 
 vcpkg_cmake_configure(

ports/sophus/vcpkg.json

@@ -1,6 +1,6 @@
 {
   "name": "sophus",
-  "version": "1.24.6-r1",
+  "version": "1.24.6",
   "description": "Lie group library for C++",
   "homepage": "https://github.com/strasdat/Sophus",
   "license": "MIT",

ports/vowpal-wabbit/fix-external-libraries.patch

@@ -14,9 +14,10 @@ index e03de86..073db1c 100644
 @@ -101,8 +99,7 @@ endif()
  if(VW_EIGEN_SYS_DEP)
    # Since EXACT is not specified, any version compatible with 3.4.0 is accepted (>= 3.4.0)
-   find_package(Eigen3 3.4.0 CONFIG REQUIRED)
+-  find_package(Eigen3 3.4.0 CONFIG REQUIRED)
 -  add_library(eigen INTERFACE)
 -  target_include_directories(eigen INTERFACE ${EIGEN3_INCLUDE_DIR})
++  find_package(Eigen3 3.4.0...5 CONFIG REQUIRED)
 +  add_library(eigen ALIAS Eigen3::Eigen)
  else()
    if(NOT EXISTS ${CMAKE_CURRENT_LIST_DIR}/eigen/CMakeLists.txt)

ports/vowpal-wabbit/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "vowpal-wabbit",
   "version": "9.10.0",
-  "port-version": 3,
+  "port-version": 4,
   "description": "Reduction based online learning framework with a focus on contextual bandits and reinforcement learning.",
   "homepage": "https://github.com/vowpalwabbit/vowpal_wabbit",
   "license": "BSD-3-Clause",

ports/vtk/fix-eigen3.patch

@@ -0,0 +1,65 @@
+diff --git a/CMake/FindEigen3.cmake b/CMake/FindEigen3.cmake
+deleted file mode 100644
+index 103690ed5a..0000000000
+--- a/CMake/FindEigen3.cmake
++++ /dev/null
+@@ -1,33 +0,0 @@
+-find_path(Eigen3_INCLUDE_DIR
+-  NAMES signature_of_eigen3_matrix_library
+-  PATH_SUFFIXES eigen3 eigen
+-  DOC "Eigen include directory")
+-mark_as_advanced(Eigen3_INCLUDE_DIR)
+-
+-if (Eigen3_INCLUDE_DIR)
+-  file(STRINGS "${Eigen3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _Eigen3_version_lines
+-    REGEX "#define[ \t]+EIGEN_(WORLD|MAJOR|MINOR)_VERSION")
+-  string(REGEX REPLACE ".*EIGEN_WORLD_VERSION *\([0-9]*\).*" "\\1" _Eigen3_version_world "${_Eigen3_version_lines}")
+-  string(REGEX REPLACE ".*EIGEN_MAJOR_VERSION *\([0-9]*\).*" "\\1" _Eigen3_version_major "${_Eigen3_version_lines}")
+-  string(REGEX REPLACE ".*EIGEN_MINOR_VERSION *\([0-9]*\).*" "\\1" _Eigen3_version_minor "${_Eigen3_version_lines}")
+-  set(Eigen3_VERSION "${_Eigen3_version_world}.${_Eigen3_version_major}.${_Eigen3_version_minor}")
+-  unset(_Eigen3_version_world)
+-  unset(_Eigen3_version_major)
+-  unset(_Eigen3_version_minor)
+-  unset(_Eigen3_version_lines)
+-endif ()
+-
+-include(FindPackageHandleStandardArgs)
+-find_package_handle_standard_args(Eigen3
+-  REQUIRED_VARS Eigen3_INCLUDE_DIR
+-  VERSION_VAR Eigen3_VERSION)
+-
+-if (Eigen3_FOUND)
+-  set(Eigen3_INCLUDE_DIRS "${Eigen3_INCLUDE_DIR}")
+-
+-  if (NOT TARGET Eigen3::Eigen3)
+-    add_library(Eigen3::Eigen3 INTERFACE IMPORTED)
+-    set_target_properties(Eigen3::Eigen3 PROPERTIES
+-      INTERFACE_INCLUDE_DIRECTORIES "${Eigen3_INCLUDE_DIR}")
+-  endif ()
+-endif ()
+diff --git a/CMake/vtkInstallCMakePackage.cmake b/CMake/vtkInstallCMakePackage.cmake
+index 7dbd33024c..343910c144 100644
+--- a/CMake/vtkInstallCMakePackage.cmake
++++ b/CMake/vtkInstallCMakePackage.cmake
+@@ -93,7 +93,6 @@ configure_file(
+ set(vtk_cmake_module_files
+   Finddouble-conversion.cmake
+   FindDirectX.cmake
+-  FindEigen3.cmake
+   FindEXPAT.cmake
+   FindExprTk.cmake
+   FindFFMPEG.cmake
+diff --git a/ThirdParty/eigen/CMakeLists.txt b/ThirdParty/eigen/CMakeLists.txt
+index 38e1bdc3b1..f9ce623c44 100644
+--- a/ThirdParty/eigen/CMakeLists.txt
++++ b/ThirdParty/eigen/CMakeLists.txt
+@@ -14,7 +14,8 @@ vtk_module_third_party(
+     STANDARD_INCLUDE_DIRS
+   EXTERNAL
+     PACKAGE Eigen3
+-    TARGETS Eigen3::Eigen3
++    TARGETS Eigen3::Eigen
++    CONFIG_MODE
+     STANDARD_INCLUDE_DIRS)
+ 
+ configure_file(

ports/vtk/portfile.cmake

@@ -47,10 +47,11 @@ vcpkg_from_github(
         use-compile-tools.diff
         zspace.diff # https://gitlab.kitware.com/vtk/vtk/-/commit/01a8bd7a917d33892f67a8d76ce7fc4b524d56b4
         mpi-language.diff
+        fix-eigen3.patch
 )
 
 # =============================================================================
-#Overwrite outdated modules if they have not been patched:
+# Overwrite outdated modules if they have not been patched:
 file(COPY "${CURRENT_PORT_DIR}/FindHDF5.cmake" DESTINATION "${SOURCE_PATH}/CMake/patches/99") # due to usage of targets in netcdf-c
 
 file(REMOVE "${SOURCE_PATH}/CMake/FindOGG.cmake")
@@ -257,8 +258,6 @@ endif()
 # =============================================================================
 # Configure & Install
 
-
-
 # We set all libraries to "system" and explicitly list the ones that should use embedded copies
 vcpkg_cmake_configure(
     SOURCE_PATH "${SOURCE_PATH}"

ports/vtk/vcpkg.json

@@ -1,7 +1,7 @@
 {
   "name": "vtk",
   "version-semver": "9.3.0-pv5.12.1",
-  "port-version": 13,
+  "port-version": 14,
   "description": "Software system for 3D computer graphics, image processing, and visualization",
   "homepage": "https://github.com/Kitware/VTK",
   "license": null,

scripts/ci.feature.baseline.txt

@@ -61,6 +61,11 @@ blitz:arm64-windows=fail
 caf(android | uwp)=fail
 casclib(uwp)=fail
 cctag:x64-windows-static-md=fail
+cctag[cuda]:x64-linux=feature-fails
+cctag[cuda]:x64-windows-release=feature-fails
+cctag[cuda]:x64-windows-release=feature-fails
+cctag[cuda]:x64-windows-static=feature-fails
+cctag[cuda]:x64-windows=feature-fails
 cello(uwp)=fail
 clamav:arm64-windows=fail
 clapack(android)=fail # needs target configuration data
@@ -434,7 +439,6 @@ dlib[cuda]:x86-windows = cascade
 dlib[cuda](osx) = cascade
 dlib[cuda](uwp) = cascade
 dv-processing:arm64-uwp = cascade
-dv-processing:arm64-windows = cascade
 dv-processing:x64-uwp = cascade
 dv-processing[tools](uwp) = cascade
 easycl:arm64-uwp = cascade
@@ -1117,7 +1121,7 @@ openmama:arm64-uwp = cascade
 openmama:arm64-windows = cascade
 openmama:x64-uwp = cascade
 openmama:x64-windows-static = cascade
-openmvg[opencv,software](arm & windows) = cascade
+openmvg[software](arm & windows) = cascade
 openmvg(uwp) = cascade
 openmvs[cuda]((!windows | !x64 | uwp | xbox) & (!linux | !x64) & (!linux | !arm64)) = cascade
 openmvs(uwp) = cascade
@@ -1722,7 +1726,6 @@ opencv3[ffmpeg] = feature-fails # ffmpeg5+ is not supported under opencv3. See h
 opencv3[halide](linux | osx) = feature-fails # Same as opencv4[halide]
 opencv3[opengl](android) = feature-fails
 opencv3[opengl](linux | osx) = no-separate-feature-test # needs gui (gtk | qt)
-opencv3[sfm](android) = feature-fails
 opencv4[core,cuda,world](windows)=options
 opencv4[halide](!android & !(windows & staticcrt) & !uwp & !(arm & windows))=feature-fails  # error C2039: 'attachHalide': is not a member of 'cv::dnn::GeluFunctor'
 opencv4[opengl]:x64-linux=feature-fails
@@ -1730,7 +1733,10 @@ opencv4[opengl](android)=feature-fails
 opencv4[opengl](windows & !uwp)=feature-fails # Option WITH_OPENGL is enabled but corresponding dependency have not been found: "HAVE_OPENGL" is FALSE
 opencv4[ovis](android)=feature-fails
 openmvg[core](arm & windows & !uwp) = combination-fails # nmmintrin.h(17): fatal error C1189: #error:  This header is specific to X86, X64, ARM64, and ARM64EC targets. See https://github.com/microsoft/vcpkg/issues/33746
+openmvg[opencv](arm & windows & !uwp) = feature-fails
 openmvg[openmp](arm & windows & !uwp) = feature-fails
+openmvg[software]:x64-windows-static = feature-fails
+openmvg[software]:x64-windows-static-md = feature-fails
 openmvs[cuda]:x64-linux = feature-fails
 openmvs[cuda]:x64-windows-static = feature-fails
 openscap[python](!windows) = feature-fails # CI image lacks swig
@@ -1774,9 +1780,10 @@ vlpp[tools](linux) = feature-fails # See https://github.com/microsoft/vcpkg/issu
 vlpp[tools](osx) = feature-fails # error: use of undeclared identifier 'PATH_MAX'
 vsgqt(android) = fail # https://github.com/vsg-dev/vsgQt/pull/53
 vtk[all](!windows & !android & !osx) = feature-fails # Wait for fix: https://github.com/microsoft/vcpkg/pull/29260
-vtk[all,python]:x64-windows-static-md = feature-fails # vtk[*] dbg: defaultlib 'MSVCRT' conflicts with use of other libs due to python
+vtk[core,all,atlmfc,cgns,cuda,debugleaks,fontconfig,gdal,geojson,libharu,libtheora,mpi,netcdf,opengl,openmp,openvr,paraview,proj,qt,seacas,sql,tbb,utf8,vtkm]:x64-windows-static-md = combination-fails
 vtk[core,python,paraview]:x64-linux = options # paraview's transitive gfortran linkage breaks python
 vtk[openmp](osx) = feature-fails
+vtk[python]:x64-windows-static-md = feature-fails # vtk[*] dbg: defaultlib 'MSVCRT' conflicts with use of other libs due to python
 vtk-m[cuda](windows & !arm64) = feature-fails
 vtk-m[omp](osx) = feature-fails # no openmp on default osx toolchain
 vtk-m[omp](windows) = feature-fails # needs openmp 4.0, msvc has openmp 2.0

versions/baseline.json

@@ -1642,7 +1642,7 @@
     },
     "cctag": {
       "baseline": "1.0.4",
-      "port-version": 0
+      "port-version": 1
     },
     "cctz": {
       "baseline": "2.5",
@@ -1670,7 +1670,7 @@
     },
     "ceres": {
       "baseline": "2.2.0",
-      "port-version": 5
+      "port-version": 6
     },
     "cfitsio": {
       "baseline": "3.49",
@@ -1734,7 +1734,7 @@
     },
     "chronoengine": {
       "baseline": "8.0.0",
-      "port-version": 1
+      "port-version": 2
     },
     "cialloo-rcon": {
       "baseline": "1.0.0",
@@ -2342,7 +2342,7 @@
     },
     "dartsim": {
       "baseline": "6.15.0",
-      "port-version": 5
+      "port-version": 6
     },
     "dataframe": {
       "baseline": "3.7.0",
@@ -2601,7 +2601,7 @@
       "port-version": 0
     },
     "dv-processing": {
-      "baseline": "2.0.1",
+      "baseline": "2.0.2",
       "port-version": 0
     },
     "dx": {
@@ -2709,8 +2709,8 @@
       "port-version": 0
     },
     "eigen3": {
-      "baseline": "3.4.1",
+      "baseline": "5.0.1",
-      "port-version": 1
+      "port-version": 0
     },
     "eipscanner": {
       "baseline": "1.3.0",
@@ -2918,7 +2918,7 @@
     },
     "fcl": {
       "baseline": "0.7.0",
-      "port-version": 4
+      "port-version": 5
     },
     "fdk-aac": {
       "baseline": "2.0.3",
@@ -3185,8 +3185,8 @@
       "port-version": 4
     },
     "g2o": {
-      "baseline": "2024-12-14",
+      "baseline": "2024-12-28",
-      "port-version": 5
+      "port-version": 0
     },
     "g3log": {
       "baseline": "2.6",
@@ -3554,7 +3554,7 @@
     },
     "gtsam": {
       "baseline": "4.2.0",
-      "port-version": 1
+      "port-version": 2
     },
     "guetzli": {
       "baseline": "2020-09-14",
@@ -4037,7 +4037,7 @@
       "port-version": 0
     },
     "itk": {
-      "baseline": "5.4.3",
+      "baseline": "5.4.4",
       "port-version": 0
     },
     "itlib": {
@@ -4738,7 +4738,7 @@
     },
     "libczi": {
       "baseline": "0.67.2",
-      "port-version": 0
+      "port-version": 1
     },
     "libdatachannel": {
       "baseline": "0.24.0",
@@ -5042,7 +5042,7 @@
     },
     "libinterpolate": {
       "baseline": "2.7.2",
-      "port-version": 0
+      "port-version": 1
     },
     "libirecovery": {
       "baseline": "2023-05-13",
@@ -6046,7 +6046,7 @@
     },
     "ltla-cppirlba": {
       "baseline": "2.0.2",
-      "port-version": 0
+      "port-version": 1
     },
     "ltla-cppkmeans": {
       "baseline": "4.0.4",
@@ -6190,7 +6190,7 @@
     },
     "manif": {
       "baseline": "0.0.5",
-      "port-version": 0
+      "port-version": 1
     },
     "manifold": {
       "baseline": "3.2.1",
@@ -7210,11 +7210,11 @@
     },
     "opencv3": {
       "baseline": "3.4.20",
-      "port-version": 0
+      "port-version": 1
     },
     "opencv4": {
       "baseline": "4.12.0",
-      "port-version": 0
+      "port-version": 1
     },
     "opendnp3": {
       "baseline": "3.1.2",
@@ -7278,11 +7278,11 @@
     },
     "openmvg": {
       "baseline": "2.1",
-      "port-version": 2
+      "port-version": 3
     },
     "openmvs": {
       "baseline": "2.1.0",
-      "port-version": 7
+      "port-version": 8
     },
     "openni2": {
       "baseline": "2.2.0.33",
@@ -7426,7 +7426,7 @@
     },
     "pagmo2": {
       "baseline": "2.19.1",
-      "port-version": 0
+      "port-version": 1
     },
     "paho-mqtt": {
       "baseline": "1.3.15",
@@ -7498,7 +7498,7 @@
     },
     "pcl": {
       "baseline": "1.15.1",
-      "port-version": 0
+      "port-version": 1
     },
     "pcre": {
       "baseline": "8.45",
@@ -8473,8 +8473,8 @@
       "port-version": 1
     },
     "rbdl": {
-      "baseline": "3.3.0",
+      "baseline": "3.3.1",
-      "port-version": 7
+      "port-version": 0
     },
     "re2": {
       "baseline": "2025-11-05",
@@ -8674,7 +8674,7 @@
     },
     "robotraconteur-companion": {
       "baseline": "0.4.2",
-      "port-version": 0
+      "port-version": 1
     },
     "rocksdb": {
       "baseline": "10.4.2",
@@ -8834,7 +8834,7 @@
     },
     "scenepic": {
       "baseline": "1.1.1",
-      "port-version": 0
+      "port-version": 1
     },
     "scintilla": {
       "baseline": "5.5.6",
@@ -9249,7 +9249,7 @@
       "port-version": 3
     },
     "sophus": {
-      "baseline": "1.24.6-r1",
+      "baseline": "1.24.6",
       "port-version": 0
     },
     "soqt": {
@@ -10414,7 +10414,7 @@
     },
     "vowpal-wabbit": {
       "baseline": "9.10.0",
-      "port-version": 3
+      "port-version": 4
     },
     "vs-yasm": {
       "baseline": "0.5.0",
@@ -10442,7 +10442,7 @@
     },
     "vtk": {
       "baseline": "9.3.0-pv5.12.1",
-      "port-version": 13
+      "port-version": 14
     },
     "vtk-compile-tools": {
       "baseline": "9.3.0-pv5.12.1",

versions/c-/cctag.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "3f54ca33b00b33092cdc48fd6fce3d25495a4426",
+      "version-semver": "1.0.4",
+      "port-version": 1
+    },
     {
       "git-tree": "ce8749684cd638c95c3e2ff15ea713ae11cd991d",
       "version-semver": "1.0.4",

versions/c-/ceres.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "96cf5bb8c4f52057b347db0a6c88f83f32d80938",
+      "version": "2.2.0",
+      "port-version": 6
+    },
     {
       "git-tree": "da138ec4e0e7cccd3a1b448af30fd13abb6235b7",
       "version": "2.2.0",

versions/c-/chronoengine.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "c889698787962a6469880f44933b8fb84a199f95",
+      "version": "8.0.0",
+      "port-version": 2
+    },
     {
       "git-tree": "7db5f822e4f4debf9b0b9400a3050fff89dca5c7",
       "version": "8.0.0",

versions/d-/dartsim.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "8923c1b29c08a783df07c025b20f3cc366cd849f",
+      "version": "6.15.0",
+      "port-version": 6
+    },
     {
       "git-tree": "9f0f05a131132b7cf6e81dff077b22812e42e71a",
       "version": "6.15.0",