From c6165a1162e14cd72561487d00b6b1e1aa026e2f Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Thu, 28 Oct 2021 11:53:22 +0800
Subject: [PATCH 01/20] update pcl to 1.12.0

---
 ports/pcl/fix-find-qhull.patch                | 16 +++----
 ...k-libpng - \345\211\257\346\234\254.patch" | 20 +++++++++
 ports/pcl/fix-link-libpng.patch               | 44 +++++++++++++------
 ...l_config - \345\211\257\346\234\254.patch" | 41 +++++++++++++++++
 ports/pcl/pcl_config.patch                    | 38 +++++++++++-----
 ports/pcl/portfile.cmake                      |  6 +--
 ports/pcl/vcpkg.json                          |  3 +-
 7 files changed, 130 insertions(+), 38 deletions(-)
 create mode 100644 "ports/pcl/fix-link-libpng - \345\211\257\346\234\254.patch"
 create mode 100644 "ports/pcl/pcl_config - \345\211\257\346\234\254.patch"

diff --git a/ports/pcl/fix-find-qhull.patch b/ports/pcl/fix-find-qhull.patch
index 79223eaf39b5f4..e70a731021fef3 100644
--- a/ports/pcl/fix-find-qhull.patch
+++ b/ports/pcl/fix-find-qhull.patch
@@ -1,8 +1,8 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 2c50b8d..c5bdf35 100644
+index 63b38df68..07caa29aa 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -354,10 +354,7 @@ if(WITH_QHULL)
+@@ -355,10 +355,7 @@ if(WITH_QHULL)
    if(NOT PCL_SHARED_LIBS OR ((WIN32 AND NOT MINGW) AND NOT PCL_BUILD_WITH_QHULL_DYNAMIC_LINKING_WIN32))
      set(QHULL_USE_STATIC ON)
    endif()
@@ -15,7 +15,7 @@ index 2c50b8d..c5bdf35 100644
  
  # Cuda
 diff --git a/surface/CMakeLists.txt b/surface/CMakeLists.txt
-index e5e4231..2fb8a46 100644
+index d8a8566ea..1953c5566 100644
 --- a/surface/CMakeLists.txt
 +++ b/surface/CMakeLists.txt
 @@ -12,7 +12,7 @@ if(NOT build)
@@ -27,10 +27,10 @@ index e5e4231..2fb8a46 100644
    set(HULL_INCLUDES
      "include/pcl/${SUBSYS_NAME}/concave_hull.h"
      "include/pcl/${SUBSYS_NAME}/convex_hull.h"
-@@ -159,7 +159,12 @@ include_directories(SYSTEM
- link_directories(${VTK_LIBRARY_DIRS})
- PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs} ${VTK_SMOOTHING_INCLUDES} ${POISSON_INCLUDES} ${OPENNURBS_INCLUDES} ${ON_NURBS_INCLUDES})
- target_link_libraries("${LIB_NAME}" pcl_common pcl_search pcl_kdtree pcl_octree ${VTK_LIBRARIES} ${ON_NURBS_LIBRARIES})
+@@ -186,7 +186,12 @@ if(VTK_FOUND)
+   endif()
+ endif()
+ 
 -if(QHULL_FOUND)
 +if(Qhull_FOUND)
 +  if(QHULL_USE_STATIC)
@@ -40,4 +40,4 @@ index e5e4231..2fb8a46 100644
 +  endif()
    target_link_libraries("${LIB_NAME}" ${QHULL_LIBRARIES})
  endif()
- PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
+ 
diff --git "a/ports/pcl/fix-link-libpng - \345\211\257\346\234\254.patch" "b/ports/pcl/fix-link-libpng - \345\211\257\346\234\254.patch"
new file mode 100644
index 00000000000000..2d5ea5f3bd3f98
--- /dev/null
+++ "b/ports/pcl/fix-link-libpng - \345\211\257\346\234\254.patch"	
@@ -0,0 +1,20 @@
+diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
+index f234971..86ea242 100644
+--- a/io/CMakeLists.txt
++++ b/io/CMakeLists.txt
+@@ -333,12 +333,13 @@ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ add_definitions(${VTK_DEFINES})
+ PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
+ target_include_directories(${LIB_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
+-link_directories(${VTK_LINK_DIRECTORIES})
+-target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES})
+ if(PNG_FOUND)
+   target_link_libraries("${LIB_NAME}" ${PNG_LIBRARIES})
+ endif()
+ 
++link_directories(${VTK_LINK_DIRECTORIES})
++target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES})
++
+ if(LIBUSB_1_FOUND)
+   target_link_libraries("${LIB_NAME}" ${LIBUSB_1_LIBRARIES})
+ endif()
diff --git a/ports/pcl/fix-link-libpng.patch b/ports/pcl/fix-link-libpng.patch
index 2d5ea5f3bd3f98..2c41c10164c7a7 100644
--- a/ports/pcl/fix-link-libpng.patch
+++ b/ports/pcl/fix-link-libpng.patch
@@ -1,20 +1,38 @@
+From 837e7a9d9388d65ac927f3e1b837a28b56bb25c8 Mon Sep 17 00:00:00 2001
+From: Wenquan Duan <1784104469@qq.com>
+Date: Wed, 27 Oct 2021 02:00:33 +0800
+Subject: [PATCH] CMakeLists.txt
+
+---
+ io/CMakeLists.txt | 8 ++++----
+ 1 file changed, 4 insertions(+), 4 deletions(-)
+
 diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
-index f234971..86ea242 100644
+index ab918424e..0de0ad2e2 100644
 --- a/io/CMakeLists.txt
 +++ b/io/CMakeLists.txt
-@@ -333,12 +333,13 @@ set(LIB_NAME "pcl_${SUBSYS_NAME}")
- add_definitions(${VTK_DEFINES})
- PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
+@@ -338,6 +338,10 @@ PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${c
+ 
  target_include_directories(${LIB_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
--link_directories(${VTK_LINK_DIRECTORIES})
--target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES})
- if(PNG_FOUND)
-   target_link_libraries("${LIB_NAME}" ${PNG_LIBRARIES})
- endif()
  
-+link_directories(${VTK_LINK_DIRECTORIES})
-+target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES})
++if(PNG_FOUND)
++  target_link_libraries("${LIB_NAME}" ${PNG_LIBRARIES})
++endif()
 +
- if(LIBUSB_1_FOUND)
-   target_link_libraries("${LIB_NAME}" ${LIBUSB_1_LIBRARIES})
+ target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply)
+ if(VTK_FOUND)
+   if(${VTK_VERSION} VERSION_LESS 9.0)
+@@ -351,10 +355,6 @@ if(VTK_FOUND)
+   endif()
+ endif()
+ 
+-if(PNG_FOUND)
+-  target_link_libraries("${LIB_NAME}" ${PNG_LIBRARIES})
+-endif()
+-
+ if(LIBUSB_FOUND)
+   target_link_libraries("${LIB_NAME}" libusb::libusb)
  endif()
+-- 
+2.31.1.windows.1
+
diff --git "a/ports/pcl/pcl_config - \345\211\257\346\234\254.patch" "b/ports/pcl/pcl_config - \345\211\257\346\234\254.patch"
new file mode 100644
index 00000000000000..8850b6d2b81edd
--- /dev/null
+++ "b/ports/pcl/pcl_config - \345\211\257\346\234\254.patch"	
@@ -0,0 +1,41 @@
+diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
+index 9f78fcf..0cbe94f 100644
+--- a/PCLConfig.cmake.in
++++ b/PCLConfig.cmake.in
+@@ -396,25 +396,16 @@ file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
+ if(WIN32 AND NOT MINGW)
+ # PCLConfig.cmake is installed to PCL_ROOT/cmake
+   get_filename_component(PCL_ROOT "${PCL_DIR}" PATH)
++  get_filename_component(PCL_ROOT "${PCL_ROOT}" PATH)
+-  if(EXISTS "${PCL_ROOT}/3rdParty")
+-    set(PCL_ALL_IN_ONE_INSTALLER ON)
+-  endif()
+ else()
+ # PCLConfig.cmake is installed to PCL_ROOT/share/pcl-x.y
+   get_filename_component(PCL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../.." ABSOLUTE)
+ endif()
+ 
+ # check whether PCLConfig.cmake is found into a PCL installation or in a build tree
+-if(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/pcl_config.h")
+-  # Found a PCL installation
+-  # pcl_message("Found a PCL installation")
+-  set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
+-  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/@LIB_INSTALL_DIR@")
+-elseif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
+-  # Found a non-standard (likely ANDROID) PCL installation
+-  # pcl_message("Found a PCL installation")
++if(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
+   set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include")
+-  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib")
++  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/@LIB_INSTALL_DIR@" "${PCL_ROOT}/debug/@LIB_INSTALL_DIR@")
++  if(EXISTS "${PCL_ROOT}/3rdParty")
++    set(PCL_ALL_IN_ONE_INSTALLER ON)
++  endif()
+-elseif(EXISTS "${PCL_DIR}/include/pcl/pcl_config.h")
+-  # Found PCLConfig.cmake in a build tree of PCL
+-  set(PCL_CONF_INCLUDE_DIR "${PCL_DIR}/include") # for pcl_config.h
+-  set(PCL_LIBRARY_DIRS "${PCL_DIR}/@LIB_INSTALL_DIR@")
+-  set(PCL_SOURCES_TREE "@CMAKE_SOURCE_DIR@")
+ else() 
+   pcl_report_not_found("PCL can not be found on this machine")
+ endif()
diff --git a/ports/pcl/pcl_config.patch b/ports/pcl/pcl_config.patch
index 60bcec8a502efc..26657b4247b40f 100644
--- a/ports/pcl/pcl_config.patch
+++ b/ports/pcl/pcl_config.patch
@@ -1,15 +1,25 @@
+From 475e7923979878d48b1d67362be7f1e116538dfd Mon Sep 17 00:00:00 2001
+From: Wenquan Duan <1784104469@qq.com>
+Date: Wed, 27 Oct 2021 01:37:45 +0800
+Subject: [PATCH] patch
+
+---
+ PCLConfig.cmake.in | 18 +++---------------
+ 1 file changed, 3 insertions(+), 15 deletions(-)
+
 diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
-index 9f78fcf..0cbe94f 100644
+index a1283a810..77155c872 100644
 --- a/PCLConfig.cmake.in
 +++ b/PCLConfig.cmake.in
-@@ -396,25 +396,16 @@ file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
+@@ -384,6 +384,7 @@ file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
  if(WIN32 AND NOT MINGW)
  # PCLConfig.cmake is installed to PCL_ROOT/cmake
    get_filename_component(PCL_ROOT "${PCL_DIR}" PATH)
 +  get_filename_component(PCL_ROOT "${PCL_ROOT}" PATH)
- else()
- # PCLConfig.cmake is installed to PCL_ROOT/share/pcl-x.y
-   get_filename_component(PCL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../.." ABSOLUTE)
+   if(EXISTS "${PCL_ROOT}/3rdParty")
+     set(PCL_ALL_IN_ONE_INSTALLER ON)
+   endif()
+@@ -393,22 +394,9 @@ else()
  endif()
  
  # check whether PCLConfig.cmake is found into a PCL installation or in a build tree
@@ -18,16 +28,22 @@ index 9f78fcf..0cbe94f 100644
 -  # pcl_message("Found a PCL installation")
 -  set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
 -  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/@LIB_INSTALL_DIR@")
--  if(EXISTS "${PCL_ROOT}/3rdParty")
--    set(PCL_ALL_IN_ONE_INSTALLER ON)
--  endif()
 -elseif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
 -  # Found a non-standard (likely ANDROID) PCL installation
 -  # pcl_message("Found a PCL installation")
 +if(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
    set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include")
 -  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib")
+-elseif(EXISTS "${PCL_DIR}/include/pcl/pcl_config.h")
+-  # Found PCLConfig.cmake in a build tree of PCL
+-  # pcl_message("PCL found into a build tree.")
+-  set(PCL_CONF_INCLUDE_DIR "${PCL_DIR}/include") # for pcl_config.h
+-  set(PCL_LIBRARY_DIRS "${PCL_DIR}/@LIB_INSTALL_DIR@")
+-  set(PCL_SOURCES_TREE "@CMAKE_SOURCE_DIR@")
 +  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/@LIB_INSTALL_DIR@" "${PCL_ROOT}/debug/@LIB_INSTALL_DIR@")
-   if(EXISTS "${PCL_ROOT}/3rdParty")
-     set(PCL_ALL_IN_ONE_INSTALLER ON)
-   endif()
+ else()
+   pcl_report_not_found("PCL can not be found on this machine")
+ endif()
+-- 
+2.31.1.windows.1
+
diff --git a/ports/pcl/portfile.cmake b/ports/pcl/portfile.cmake
index 008b8934e562c9..da55f807cccd14 100644
--- a/ports/pcl/portfile.cmake
+++ b/ports/pcl/portfile.cmake
@@ -1,8 +1,8 @@
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO PointCloudLibrary/pcl
-    REF d98313133b014553ab1b1b5b112f9aade837d55c # pcl-1.11.1
-    SHA512 4d60f34d4fbf0a4b4caf9cc4391af471ebd260b3bbac106d45e5ff38448894ea4dc82d5320c2e395c537a4414eb13c6a6a0eb6c13e4e1cc1d831d4bf24067966
+    REF pcl-1.12.0
+    SHA512 ce0544fdd82bcc415f81a9c74d58e5f6da2d0e0aaa54238a2601eca90386774155f1e032e6fb55a9edbf467ffa5ebf2ad695ec652ab437b323b8c6241f81193f
     HEAD_REF master
     PATCHES
         pcl_utils.patch
@@ -11,8 +11,6 @@ vcpkg_from_github(
         fix-link-libpng.patch
         remove-broken-targets.patch
         fix-check-sse.patch
-        realsense2.patch
-        add-gcc-version-check.patch
         fix-find-qhull.patch
 )
 
diff --git a/ports/pcl/vcpkg.json b/ports/pcl/vcpkg.json
index 4f0fa3a87576d9..6321d35438d01a 100644
--- a/ports/pcl/vcpkg.json
+++ b/ports/pcl/vcpkg.json
@@ -1,7 +1,6 @@
 {
   "name": "pcl",
-  "version": "1.11.1",
-  "port-version": 4,
+  "version": "1.12.0",
   "description": "Point Cloud Library (PCL) is open source library for 2D/3D image and point cloud processing.",
   "homepage": "https://github.com/PointCloudLibrary/pcl",
   "supports": "!(arm64 & windows)",

From 5708972a085ce820503d6ba468e0af7e71c6d85e Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Thu, 28 Oct 2021 12:14:54 +0800
Subject: [PATCH 02/20] update pcl to 1.12.0

---
 ...k-libpng - \345\211\257\346\234\254.patch" | 20 ---------
 ...l_config - \345\211\257\346\234\254.patch" | 41 -------------------
 ports/pcl/vcpkg.json                          |  2 +-
 versions/baseline.json                        |  4 +-
 versions/p-/pcl.json                          |  5 +++
 5 files changed, 8 insertions(+), 64 deletions(-)
 delete mode 100644 "ports/pcl/fix-link-libpng - \345\211\257\346\234\254.patch"
 delete mode 100644 "ports/pcl/pcl_config - \345\211\257\346\234\254.patch"

diff --git "a/ports/pcl/fix-link-libpng - \345\211\257\346\234\254.patch" "b/ports/pcl/fix-link-libpng - \345\211\257\346\234\254.patch"
deleted file mode 100644
index 2d5ea5f3bd3f98..00000000000000
--- "a/ports/pcl/fix-link-libpng - \345\211\257\346\234\254.patch"	
+++ /dev/null
@@ -1,20 +0,0 @@
-diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
-index f234971..86ea242 100644
---- a/io/CMakeLists.txt
-+++ b/io/CMakeLists.txt
-@@ -333,12 +333,13 @@ set(LIB_NAME "pcl_${SUBSYS_NAME}")
- add_definitions(${VTK_DEFINES})
- PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
- target_include_directories(${LIB_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include")
--link_directories(${VTK_LINK_DIRECTORIES})
--target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES})
- if(PNG_FOUND)
-   target_link_libraries("${LIB_NAME}" ${PNG_LIBRARIES})
- endif()
- 
-+link_directories(${VTK_LINK_DIRECTORIES})
-+target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES})
-+
- if(LIBUSB_1_FOUND)
-   target_link_libraries("${LIB_NAME}" ${LIBUSB_1_LIBRARIES})
- endif()
diff --git "a/ports/pcl/pcl_config - \345\211\257\346\234\254.patch" "b/ports/pcl/pcl_config - \345\211\257\346\234\254.patch"
deleted file mode 100644
index 8850b6d2b81edd..00000000000000
--- "a/ports/pcl/pcl_config - \345\211\257\346\234\254.patch"	
+++ /dev/null
@@ -1,41 +0,0 @@
-diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
-index 9f78fcf..0cbe94f 100644
---- a/PCLConfig.cmake.in
-+++ b/PCLConfig.cmake.in
-@@ -396,25 +396,16 @@ file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
- if(WIN32 AND NOT MINGW)
- # PCLConfig.cmake is installed to PCL_ROOT/cmake
-   get_filename_component(PCL_ROOT "${PCL_DIR}" PATH)
-+  get_filename_component(PCL_ROOT "${PCL_ROOT}" PATH)
--  if(EXISTS "${PCL_ROOT}/3rdParty")
--    set(PCL_ALL_IN_ONE_INSTALLER ON)
--  endif()
- else()
- # PCLConfig.cmake is installed to PCL_ROOT/share/pcl-x.y
-   get_filename_component(PCL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../.." ABSOLUTE)
- endif()
- 
- # check whether PCLConfig.cmake is found into a PCL installation or in a build tree
--if(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/pcl_config.h")
--  # Found a PCL installation
--  # pcl_message("Found a PCL installation")
--  set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
--  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/@LIB_INSTALL_DIR@")
--elseif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
--  # Found a non-standard (likely ANDROID) PCL installation
--  # pcl_message("Found a PCL installation")
-+if(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
-   set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include")
--  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/lib")
-+  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/@LIB_INSTALL_DIR@" "${PCL_ROOT}/debug/@LIB_INSTALL_DIR@")
-+  if(EXISTS "${PCL_ROOT}/3rdParty")
-+    set(PCL_ALL_IN_ONE_INSTALLER ON)
-+  endif()
--elseif(EXISTS "${PCL_DIR}/include/pcl/pcl_config.h")
--  # Found PCLConfig.cmake in a build tree of PCL
--  set(PCL_CONF_INCLUDE_DIR "${PCL_DIR}/include") # for pcl_config.h
--  set(PCL_LIBRARY_DIRS "${PCL_DIR}/@LIB_INSTALL_DIR@")
--  set(PCL_SOURCES_TREE "@CMAKE_SOURCE_DIR@")
- else() 
-   pcl_report_not_found("PCL can not be found on this machine")
- endif()
diff --git a/ports/pcl/vcpkg.json b/ports/pcl/vcpkg.json
index bce2f57627ddfa..6321d35438d01a 100644
--- a/ports/pcl/vcpkg.json
+++ b/ports/pcl/vcpkg.json
@@ -80,4 +80,4 @@
       ]
     }
   }
-}
\ No newline at end of file
+}
diff --git a/versions/baseline.json b/versions/baseline.json
index df343e6be77b16..104321dd143687 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -5093,8 +5093,8 @@
       "port-version": 1
     },
     "pcl": {
-      "baseline": "1.11.1",
-      "port-version": 5
+      "baseline": "1.12.0",
+      "port-version": 0
     },
     "pcre": {
       "baseline": "8.45",
diff --git a/versions/p-/pcl.json b/versions/p-/pcl.json
index f149a9d52b07df..ac2cede2cdc610 100644
--- a/versions/p-/pcl.json
+++ b/versions/p-/pcl.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "5e6680c1fcbcac6020386e4742de0aba103c50fb",
+      "version": "1.12.0",
+      "port-version": 0
+    },
     {
       "git-tree": "32f16f4b317bc068cc45259ca36d23ebd16a3099",
       "version": "1.11.1",

From 187aa3928ef8d87db8755c275d5ac5ece040f10f Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Thu, 28 Oct 2021 12:42:21 +0800
Subject: [PATCH 03/20] update pcl to 1.12.0

---
 ports/pcl/add-gcc-version-check.patch | 27 ---------------------------
 ports/pcl/fix-check-sse.patch         | 13 -------------
 ports/pcl/realsense2.patch            | 13 -------------
 3 files changed, 53 deletions(-)
 delete mode 100644 ports/pcl/add-gcc-version-check.patch
 delete mode 100644 ports/pcl/fix-check-sse.patch
 delete mode 100644 ports/pcl/realsense2.patch

diff --git a/ports/pcl/add-gcc-version-check.patch b/ports/pcl/add-gcc-version-check.patch
deleted file mode 100644
index a21b9e4731593e..00000000000000
--- a/ports/pcl/add-gcc-version-check.patch
+++ /dev/null
@@ -1,27 +0,0 @@
-From 8a7a883b51e18645974921b1bfe9d3b6ef3c626c Mon Sep 17 00:00:00 2001
-From: Lars Glud <larshg@gmail.com>
-Date: Fri, 19 Mar 2021 22:22:57 +0100
-Subject: [PATCH] Add gcc-version-check
-
----
- CMakeLists.txt | 4 ++++
- 1 file changed, 4 insertions(+)
-
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e5aa7f40a..1e346a316 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -304,6 +304,10 @@ if(NOT PCL_SHARED_LIBS OR ((WIN32 AND NOT MINGW) AND NOT PCL_BUILD_WITH_FLANN_DY
- endif()
- find_package(FLANN 1.7.0 REQUIRED)
- 
-+if(UNIX AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 6.0)
-+    set (CMAKE_CXX_STANDARD 17)
-+endif()
-+
- # libusb-1.0
- option(WITH_LIBUSB "Build USB RGBD-Camera drivers" TRUE)
- if(WITH_LIBUSB)
--- 
-2.29.2.windows.2
-
diff --git a/ports/pcl/fix-check-sse.patch b/ports/pcl/fix-check-sse.patch
deleted file mode 100644
index 4fd6e676b36a0e..00000000000000
--- a/ports/pcl/fix-check-sse.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index e580b1a..572ea06 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -86,7 +86,7 @@ endif()
- 
- # check for SSE flags
- include("${PCL_SOURCE_DIR}/cmake/pcl_find_sse.cmake")
--if(PCL_ENABLE_SSE AND "${CMAKE_CXX_FLAGS}" STREQUAL "${CMAKE_CXX_FLAGS_DEFAULT}")
-+if(PCL_ENABLE_SSE)
-   PCL_CHECK_FOR_SSE()
- endif()
- 
diff --git a/ports/pcl/realsense2.patch b/ports/pcl/realsense2.patch
deleted file mode 100644
index cfe2cc41f1b255..00000000000000
--- a/ports/pcl/realsense2.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --git a/io/src/real_sense_2_grabber.cpp b/io/src/real_sense_2_grabber.cpp
-index d13231e..06d1238 100644
---- a/io/src/real_sense_2_grabber.cpp
-+++ b/io/src/real_sense_2_grabber.cpp
-@@ -287,7 +287,7 @@ namespace pcl
-     cloud->width = sp.width ();
-     cloud->height = sp.height ();
-     cloud->is_dense = false;
--    cloud->points.resize ( size () );
-+    cloud->points.resize ( points.size () );
- 
-     const auto cloud_vertices_ptr = points.get_vertices ();
-     const auto cloud_texture_ptr = points.get_texture_coordinates ();

From e684edbb69c924ca2d710cb8ac038b40d3bb206d Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Thu, 28 Oct 2021 12:48:00 +0800
Subject: [PATCH 04/20] update pcl to 1.12.0

---
 versions/p-/pcl.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/versions/p-/pcl.json b/versions/p-/pcl.json
index ac2cede2cdc610..45f4e71388a831 100644
--- a/versions/p-/pcl.json
+++ b/versions/p-/pcl.json
@@ -1,7 +1,7 @@
 {
   "versions": [
     {
-      "git-tree": "5e6680c1fcbcac6020386e4742de0aba103c50fb",
+      "git-tree": "dc5a93c590ea9f4d79643854039addf40acd6706",
       "version": "1.12.0",
       "port-version": 0
     },

From d291e0f5c595e47a9f6be5b33f9717457b47aca1 Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Thu, 28 Oct 2021 14:41:09 +0800
Subject: [PATCH 05/20] [pcl]fixup redundant patch in portfile

---
 ports/pcl/portfile.cmake | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ports/pcl/portfile.cmake b/ports/pcl/portfile.cmake
index 3d8a36fb617640..cc546789927ecd 100644
--- a/ports/pcl/portfile.cmake
+++ b/ports/pcl/portfile.cmake
@@ -10,7 +10,6 @@ vcpkg_from_github(
         boost-1.70.patch
         fix-link-libpng.patch
         remove-broken-targets.patch
-        fix-check-sse.patch
         fix-find-qhull.patch
 )
 

From 5a9a2d0fac9738a30a0e7c74ea0d973ad7b56e91 Mon Sep 17 00:00:00 2001
From: Alluofuyo <57863591+Alluofuyo@users.noreply.github.com>
Date: Thu, 28 Oct 2021 14:42:51 +0800
Subject: [PATCH 06/20] Update portfile.cmake

remove the redundant patch
---
 ports/pcl/portfile.cmake | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ports/pcl/portfile.cmake b/ports/pcl/portfile.cmake
index 3d8a36fb617640..cc546789927ecd 100644
--- a/ports/pcl/portfile.cmake
+++ b/ports/pcl/portfile.cmake
@@ -10,7 +10,6 @@ vcpkg_from_github(
         boost-1.70.patch
         fix-link-libpng.patch
         remove-broken-targets.patch
-        fix-check-sse.patch
         fix-find-qhull.patch
 )
 

From 4adc0439d1f7ba9041d2ca0c92b1b93077680dc1 Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Thu, 28 Oct 2021 15:07:17 +0800
Subject: [PATCH 07/20] update pcl to 1.12.0 (do some updates)

---
 ports/pcl/portfile.cmake |  6 +++---
 ports/pcl/vcpkg.json     | 10 +++++++++-
 2 files changed, 12 insertions(+), 4 deletions(-)

diff --git a/ports/pcl/portfile.cmake b/ports/pcl/portfile.cmake
index cc546789927ecd..e62cff66f6351d 100644
--- a/ports/pcl/portfile.cmake
+++ b/ports/pcl/portfile.cmake
@@ -37,7 +37,7 @@ vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
         vtk     WITH_VTK
 )
 
-vcpkg_configure_cmake(
+vcpkg_cmake_configure(
     SOURCE_PATH ${SOURCE_PATH}
     PREFER_NINJA
     OPTIONS
@@ -56,8 +56,8 @@ vcpkg_configure_cmake(
         ${FEATURE_OPTIONS}
 )
 
-vcpkg_install_cmake()
-vcpkg_fixup_cmake_targets()
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup()
 vcpkg_copy_pdbs()
 
 file(REMOVE_RECURSE ${CURRENT_PACKAGES_DIR}/debug/include)
diff --git a/ports/pcl/vcpkg.json b/ports/pcl/vcpkg.json
index 6321d35438d01a..6409630b61b1cb 100644
--- a/ports/pcl/vcpkg.json
+++ b/ports/pcl/vcpkg.json
@@ -5,6 +5,14 @@
   "homepage": "https://github.com/PointCloudLibrary/pcl",
   "supports": "!(arm64 & windows)",
   "dependencies": [
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    },
     "boost-asio",
     "boost-date-time",
     "boost-dynamic-bitset",
@@ -80,4 +88,4 @@
       ]
     }
   }
-}
+}
\ No newline at end of file

From 99295e3bbfdf25aa3d4b0094eb601a8b119191e7 Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Thu, 28 Oct 2021 15:12:18 +0800
Subject: [PATCH 08/20] update versions

---
 ports/pcl/vcpkg.json | 20 ++++++++++----------
 versions/p-/pcl.json |  2 +-
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/ports/pcl/vcpkg.json b/ports/pcl/vcpkg.json
index 6409630b61b1cb..76152d15ecfb46 100644
--- a/ports/pcl/vcpkg.json
+++ b/ports/pcl/vcpkg.json
@@ -5,14 +5,6 @@
   "homepage": "https://github.com/PointCloudLibrary/pcl",
   "supports": "!(arm64 & windows)",
   "dependencies": [
-    {
-      "name": "vcpkg-cmake",
-      "host": true
-    },
-    {
-      "name": "vcpkg-cmake-config",
-      "host": true
-    },
     "boost-asio",
     "boost-date-time",
     "boost-dynamic-bitset",
@@ -33,7 +25,15 @@
     "eigen3",
     "flann",
     "libpng",
-    "qhull"
+    "qhull",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
   ],
   "features": {
     "cuda": {
@@ -88,4 +88,4 @@
       ]
     }
   }
-}
\ No newline at end of file
+}
diff --git a/versions/p-/pcl.json b/versions/p-/pcl.json
index 45f4e71388a831..01ec619efc40a2 100644
--- a/versions/p-/pcl.json
+++ b/versions/p-/pcl.json
@@ -1,7 +1,7 @@
 {
   "versions": [
     {
-      "git-tree": "dc5a93c590ea9f4d79643854039addf40acd6706",
+      "git-tree": "38c298872294b3492aaa226d4f98f07798ae6875",
       "version": "1.12.0",
       "port-version": 0
     },

From bcfd3608dddeb0a19af02ee4f58c88a8dfdab576 Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Thu, 28 Oct 2021 15:26:55 +0800
Subject: [PATCH 09/20] update versions

---
 versions/p-/pcl.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/versions/p-/pcl.json b/versions/p-/pcl.json
index 01ec619efc40a2..9cdf93d72a8bcf 100644
--- a/versions/p-/pcl.json
+++ b/versions/p-/pcl.json
@@ -1,7 +1,7 @@
 {
   "versions": [
     {
-      "git-tree": "38c298872294b3492aaa226d4f98f07798ae6875",
+      "git-tree": "b217f288dee0d0f7c2785fce1dd4d444087ffce8",
       "version": "1.12.0",
       "port-version": 0
     },

From 64f1185a82499b6074ee349748e7647898b15240 Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Fri, 29 Oct 2021 03:42:23 +0800
Subject: [PATCH 10/20] pcl update to 1.12.0 and fix the dependency of
 rtabmap()

---
 ports/rtabmap/001_fix_with_qt.patch | 20 ++++++++++++++++
 ports/rtabmap/001_opencv.patch      | 36 -----------------------------
 ports/rtabmap/portfile.cmake        |  8 +++----
 ports/rtabmap/vcpkg.json            | 22 ++++++++++++++----
 4 files changed, 42 insertions(+), 44 deletions(-)
 create mode 100644 ports/rtabmap/001_fix_with_qt.patch
 delete mode 100644 ports/rtabmap/001_opencv.patch

diff --git a/ports/rtabmap/001_fix_with_qt.patch b/ports/rtabmap/001_fix_with_qt.patch
new file mode 100644
index 00000000000000..1a934f6bbcd6e9
--- /dev/null
+++ b/ports/rtabmap/001_fix_with_qt.patch
@@ -0,0 +1,20 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 3c1a46f6..39cb1656 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -990,13 +990,13 @@ IF(ANDROID)
+    IF(BUILD_APP)
+       ADD_SUBDIRECTORY( app )
+    ENDIF(BUILD_APP)
++ELSEIF(NOT WITH_QT)
++   MESSAGE(WARNING "the GUI lib and the stand-alone application will not be compiled...")
+ ELSEIF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
+    ADD_SUBDIRECTORY( guilib )
+    IF(BUILD_APP)
+       ADD_SUBDIRECTORY( app )
+    ENDIF(BUILD_APP)
+-ELSEIF(WITH_QT)
+-   MESSAGE(WARNING "Qt not found, the GUI lib and the stand-alone application will not be compiled...")
+ ENDIF()
+ 
+ IF(BUILD_TOOLS)
diff --git a/ports/rtabmap/001_opencv.patch b/ports/rtabmap/001_opencv.patch
deleted file mode 100644
index 5d3a9611ed179e..00000000000000
--- a/ports/rtabmap/001_opencv.patch
+++ /dev/null
@@ -1,36 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 1cb24ae36..a5414e26e 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -320,6 +320,9 @@ IF(WITH_QT)
-         ENDIF()
-         ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals/foreach and Qt macros
-     ENDIF(QT4_FOUND OR Qt5_FOUND)
-+ELSE()
-+    # Unconditionally disable VTK related features since no visualization tools will be built.
-+    ADD_DEFINITIONS("-DDISABLE_VTK")
- ENDIF(WITH_QT)
- 
- IF(WITH_SUPERPOINT_TORCH)
-diff --git a/corelib/src/Features2d.cpp b/corelib/src/Features2d.cpp
-index e4048eefb..862cdc68f 100644
---- a/corelib/src/Features2d.cpp
-+++ b/corelib/src/Features2d.cpp
-@@ -982,7 +982,7 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
- {
- 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
- 	std::vector<cv::KeyPoint> keypoints;
--#if defined(RTABMAP_NONFREE) || CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3)
-+#if defined(RTABMAP_NONFREE) && ( CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3) )
- 	cv::Mat imgRoi(image, roi);
- 	cv::Mat maskRoi;
- 	if(!mask.empty())
-@@ -1000,7 +1000,7 @@ cv::Mat SIFT::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
- {
- 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
- 	cv::Mat descriptors;
--#if defined(RTABMAP_NONFREE) || CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3)
-+#if defined(RTABMAP_NONFREE) && ( CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3) )
- 	_sift->compute(image, keypoints, descriptors);
- 
- 	if( rootSIFT_ && !descriptors.empty())
diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake
index e51690c4ec80e6..8a908fca10fcaf 100644
--- a/ports/rtabmap/portfile.cmake
+++ b/ports/rtabmap/portfile.cmake
@@ -3,11 +3,11 @@ vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO introlab/rtabmap
-    REF 0a9d237ac2968463d36c4c9b4436871a6c3ea0ca # 0.20.3
-    SHA512 47438eb07e4687855e89664479644b93f826da722c3556c30ed4b1a51cecb41494582d3ae3337ff4e0925f6db7ebf74fe29871bf930bb2eb51f5198090ac8554
+    REF d284cd11cf973d2eef6f96c93c0c540cda2450cf #0.20.14
+    SHA512 174df95897b4ed1f34358070e62fb638c5eb6b17ca4c849a50ba1dc5e6363f94999b119b6f5b22f1b3398594f79c1d1293041e5d6aa6e2f462666f99bbea3a7e
     HEAD_REF master
-    PATCHES 
-        001_opencv.patch
+    PATCHES
+      001_fix_with_qt.patch
 )
 
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json
index ef458fd628101f..99053dcf4b1183 100644
--- a/ports/rtabmap/vcpkg.json
+++ b/ports/rtabmap/vcpkg.json
@@ -1,13 +1,27 @@
 {
   "name": "rtabmap",
-  "version-string": "0.20.3",
-  "port-version": 1,
+  "version-string": "0.20.14",
+  "port-version": 0,
   "description": "Real-Time Appearance-Based Mapping",
   "homepage": "https://introlab.github.io/rtabmap/",
   "supports": "windows & !static",
   "dependencies": [
     "opencv",
-    "pcl",
+    {
+      "name": "pcl",
+      "default-features": false,
+      "features": [
+        "vtk"
+      ]
+    },
+    {
+      "name": "vtk",
+      "default-features": false,
+      "features": [
+        "opengl",
+        "qt"
+      ]
+    },
     "zlib"
   ],
   "features": {
@@ -18,4 +32,4 @@
       ]
     }
   }
-}
+}
\ No newline at end of file

From bfc62fe3c8dc9f66ce014c5e7129cfe83f3b6396 Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Fri, 29 Oct 2021 03:44:58 +0800
Subject: [PATCH 11/20] pcl update to 1.12.0 and fix the version dependency on
 rtabmap (update to 0.20.14).

---
 ports/rtabmap/vcpkg.json | 3 +--
 versions/baseline.json   | 4 ++--
 versions/r-/rtabmap.json | 5 +++++
 3 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json
index 99053dcf4b1183..e85b0d1a854001 100644
--- a/ports/rtabmap/vcpkg.json
+++ b/ports/rtabmap/vcpkg.json
@@ -1,7 +1,6 @@
 {
   "name": "rtabmap",
   "version-string": "0.20.14",
-  "port-version": 0,
   "description": "Real-Time Appearance-Based Mapping",
   "homepage": "https://introlab.github.io/rtabmap/",
   "supports": "windows & !static",
@@ -32,4 +31,4 @@
       ]
     }
   }
-}
\ No newline at end of file
+}
diff --git a/versions/baseline.json b/versions/baseline.json
index b918ec78ce77bc..be00fc48de6fde 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -5981,8 +5981,8 @@
       "port-version": 2
     },
     "rtabmap": {
-      "baseline": "0.20.3",
-      "port-version": 1
+      "baseline": "0.20.14",
+      "port-version": 0
     },
     "rtaudio": {
       "baseline": "2021-08-15",
diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json
index 5a4d15b968594e..72c17afaee0fae 100644
--- a/versions/r-/rtabmap.json
+++ b/versions/r-/rtabmap.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "2efa7ce8b739ef8372030eee51818a1b5aae2df0",
+      "version-string": "0.20.14",
+      "port-version": 0
+    },
     {
       "git-tree": "07422ec8ed79148e476dbb807db950ed78852ca0",
       "version-string": "0.20.3",

From 24b6b41a0a9b20924a06dafbe36723b210c650c8 Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Fri, 29 Oct 2021 04:29:42 +0800
Subject: [PATCH 12/20] Update version database

---
 versions/r-/rtabmap.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json
index 72c17afaee0fae..b61026bbaa5c08 100644
--- a/versions/r-/rtabmap.json
+++ b/versions/r-/rtabmap.json
@@ -1,7 +1,7 @@
 {
   "versions": [
     {
-      "git-tree": "2efa7ce8b739ef8372030eee51818a1b5aae2df0",
+      "git-tree": "ae3cee7b1bb7d7b8a759ffb766b8db80371c6037",
       "version-string": "0.20.14",
       "port-version": 0
     },

From 8eaea99f2e564feb94396854d14a178d29b6ad5a Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Fri, 29 Oct 2021 05:54:16 +0800
Subject: [PATCH 13/20] fix cmake find package suffixes

---
 ports/pcl/fix_cmake_find_package_suffixex.patch | 0
 ports/pcl/portfile.cmake                        | 1 +
 2 files changed, 1 insertion(+)
 create mode 100644 ports/pcl/fix_cmake_find_package_suffixex.patch

diff --git a/ports/pcl/fix_cmake_find_package_suffixex.patch b/ports/pcl/fix_cmake_find_package_suffixex.patch
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/ports/pcl/portfile.cmake b/ports/pcl/portfile.cmake
index e62cff66f6351d..8aa0e3f61a1c0c 100644
--- a/ports/pcl/portfile.cmake
+++ b/ports/pcl/portfile.cmake
@@ -11,6 +11,7 @@ vcpkg_from_github(
         fix-link-libpng.patch
         remove-broken-targets.patch
         fix-find-qhull.patch
+        fix_cmake_find_package_suffixex.patch
 )
 
 file(REMOVE ${SOURCE_PATH}/cmake/Modules/FindQhull.cmake)

From dd3f4117af16ab817629a30028034ade762623c3 Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Fri, 29 Oct 2021 05:55:34 +0800
Subject: [PATCH 14/20] update versions

---
 versions/p-/pcl.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/versions/p-/pcl.json b/versions/p-/pcl.json
index 9cdf93d72a8bcf..9be7681b0c96ac 100644
--- a/versions/p-/pcl.json
+++ b/versions/p-/pcl.json
@@ -1,7 +1,7 @@
 {
   "versions": [
     {
-      "git-tree": "b217f288dee0d0f7c2785fce1dd4d444087ffce8",
+      "git-tree": "05c249d3010deb50c07b7f0d20198de719d256a6",
       "version": "1.12.0",
       "port-version": 0
     },

From 881d4616d62009bb1ca5ff2d5f650d5cb468da5b Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Fri, 29 Oct 2021 06:05:51 +0800
Subject: [PATCH 15/20] update

---
 .../pcl/fix_cmake_find_package_suffixes.patch | 20 +++++++++++++++++++
 .../pcl/fix_cmake_find_package_suffixex.patch |  0
 ports/pcl/portfile.cmake                      |  2 +-
 3 files changed, 21 insertions(+), 1 deletion(-)
 create mode 100644 ports/pcl/fix_cmake_find_package_suffixes.patch
 delete mode 100644 ports/pcl/fix_cmake_find_package_suffixex.patch

diff --git a/ports/pcl/fix_cmake_find_package_suffixes.patch b/ports/pcl/fix_cmake_find_package_suffixes.patch
new file mode 100644
index 00000000000000..8ef14495a19350
--- /dev/null
+++ b/ports/pcl/fix_cmake_find_package_suffixes.patch
@@ -0,0 +1,20 @@
+diff --git a/cmake/pcl_options.cmake b/cmake/pcl_options.cmake
+index 6570d75f1..1d9b0d84f 100644
+--- a/cmake/pcl_options.cmake
++++ b/cmake/pcl_options.cmake
+@@ -7,14 +7,13 @@ if(PCL_SHARED_LIBS)
+   set(PCL_LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
+   set(PCL_LIB_TYPE "SHARED")
+ #  set(CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_SHARED_LIBRARY_SUFFIX})
+-  if(WIN32)
++  if(0)
+     set(CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_IMPORT_LIBRARY_SUFFIX})
+   endif()
+ else()
+   set(PCL_LIB_PREFIX ${CMAKE_STATIC_LIBRARY_PREFIX})
+   set(PCL_LIB_SUFFIX ${CMAKE_STATIC_LIBRARY_SUFFIX})
+   set(PCL_LIB_TYPE "STATIC")
+-  set(CMAKE_FIND_LIBRARY_SUFFIXES ${CMAKE_STATIC_LIBRARY_SUFFIX})
+ endif()
+ mark_as_advanced(PCL_SHARED_LIBS)
+ 
diff --git a/ports/pcl/fix_cmake_find_package_suffixex.patch b/ports/pcl/fix_cmake_find_package_suffixex.patch
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/ports/pcl/portfile.cmake b/ports/pcl/portfile.cmake
index 8aa0e3f61a1c0c..0f0467e9dada35 100644
--- a/ports/pcl/portfile.cmake
+++ b/ports/pcl/portfile.cmake
@@ -11,7 +11,7 @@ vcpkg_from_github(
         fix-link-libpng.patch
         remove-broken-targets.patch
         fix-find-qhull.patch
-        fix_cmake_find_package_suffixex.patch
+        fix_cmake_find_package_suffixes.patch
 )
 
 file(REMOVE ${SOURCE_PATH}/cmake/Modules/FindQhull.cmake)

From ab28636b3938d5da7b1434e1cb64080677ff0a78 Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Fri, 29 Oct 2021 06:07:29 +0800
Subject: [PATCH 16/20] update version

---
 versions/p-/pcl.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/versions/p-/pcl.json b/versions/p-/pcl.json
index 9be7681b0c96ac..66ceb19576d0eb 100644
--- a/versions/p-/pcl.json
+++ b/versions/p-/pcl.json
@@ -1,7 +1,7 @@
 {
   "versions": [
     {
-      "git-tree": "05c249d3010deb50c07b7f0d20198de719d256a6",
+      "git-tree": "704626167937bcad73b793d58d8dfa093e852464",
       "version": "1.12.0",
       "port-version": 0
     },

From c015627798e00602b3b104da9196b8995f1f23b2 Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Fri, 29 Oct 2021 10:10:51 +0800
Subject: [PATCH 17/20] update rtabmap vcpkg.json

---
 ports/rtabmap/portfile.cmake | 6 +++---
 ports/rtabmap/vcpkg.json     | 8 ++++++++
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake
index 8a908fca10fcaf..83a8a3b3234efa 100644
--- a/ports/rtabmap/portfile.cmake
+++ b/ports/rtabmap/portfile.cmake
@@ -14,7 +14,7 @@ vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
     tools BUILD_TOOLS
 )
 
-vcpkg_configure_cmake(
+vcpkg_cmake_configure(
     SOURCE_PATH ${SOURCE_PATH}
     PREFER_NINJA
     OPTIONS
@@ -57,8 +57,8 @@ vcpkg_configure_cmake(
         -DWITH_FASTCV=OFF
 )
 
-vcpkg_install_cmake()
-vcpkg_fixup_cmake_targets(CONFIG_PATH cmake)
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH cmake)
 
 vcpkg_copy_tools(TOOL_NAMES rtabmap-res_tool AUTO_CLEAN)
 
diff --git a/ports/rtabmap/vcpkg.json b/ports/rtabmap/vcpkg.json
index e85b0d1a854001..69eee911dc349b 100644
--- a/ports/rtabmap/vcpkg.json
+++ b/ports/rtabmap/vcpkg.json
@@ -13,6 +13,14 @@
         "vtk"
       ]
     },
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    },
     {
       "name": "vtk",
       "default-features": false,

From 537cf37712e73b3e2e0f47b20062658cd4d69e4d Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Fri, 29 Oct 2021 10:20:53 +0800
Subject: [PATCH 18/20] Update version database

---
 versions/r-/rtabmap.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json
index b61026bbaa5c08..13f6780b9c7858 100644
--- a/versions/r-/rtabmap.json
+++ b/versions/r-/rtabmap.json
@@ -1,7 +1,7 @@
 {
   "versions": [
     {
-      "git-tree": "ae3cee7b1bb7d7b8a759ffb766b8db80371c6037",
+      "git-tree": "5c7b1735aee09f27a1a73651c00a529f9c4c3d90",
       "version-string": "0.20.14",
       "port-version": 0
     },

From 00612cbb088b62817429428b4a607f073ecdda1f Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Fri, 29 Oct 2021 11:14:29 +0800
Subject: [PATCH 19/20] DISABLE_PARALLEL_CONFIGURE

---
 ports/rtabmap/portfile.cmake | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ports/rtabmap/portfile.cmake b/ports/rtabmap/portfile.cmake
index 83a8a3b3234efa..5b9ff8b767fe3e 100644
--- a/ports/rtabmap/portfile.cmake
+++ b/ports/rtabmap/portfile.cmake
@@ -11,12 +11,14 @@ vcpkg_from_github(
 )
 
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+  FEATURES
     tools BUILD_TOOLS
 )
 
 vcpkg_cmake_configure(
     SOURCE_PATH ${SOURCE_PATH}
     PREFER_NINJA
+    DISABLE_PARALLEL_CONFIGURE
     OPTIONS
         ${FEATURE_OPTIONS}
         -DBUILD_APP=OFF
@@ -55,6 +57,10 @@ vcpkg_cmake_configure(
         -DWITH_MSCKF_VIO=OFF
         -DWITH_VINS=OFF
         -DWITH_FASTCV=OFF
+    MAYBE_UNUSED_VARIABLES
+        WITH_ORB_SLAM2
+        WITH_PYMATCHER
+        WITH_SUPERPOINT_TORCH
 )
 
 vcpkg_cmake_install()

From 3b47b1259d42aa3b8ff8327551b95ab3f731e0fe Mon Sep 17 00:00:00 2001
From: Wenquan Duan <1784104469@qq.com>
Date: Fri, 29 Oct 2021 11:15:28 +0800
Subject: [PATCH 20/20] update version database

---
 versions/r-/rtabmap.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/versions/r-/rtabmap.json b/versions/r-/rtabmap.json
index 13f6780b9c7858..ce25cc597d160b 100644
--- a/versions/r-/rtabmap.json
+++ b/versions/r-/rtabmap.json
@@ -1,7 +1,7 @@
 {
   "versions": [
     {
-      "git-tree": "5c7b1735aee09f27a1a73651c00a529f9c4c3d90",
+      "git-tree": "f9129c08d696fbee1eceb9070e9b84c68eff57e5",
       "version-string": "0.20.14",
       "port-version": 0
     },