[pcl] Update to 1.10.0 (#10042)

11 files changed, 141 insertions, 413 deletions

diff --git a/ports/pcl/CONTROL b/ports/pcl/CONTROL
index d21a0b8fd..aea2d778e 100644
--- a/ports/pcl/CONTROL
+++ b/ports/pcl/CONTROL
@@ -1,8 +1,8 @@
 Source: pcl
-Version: 1.9.1-13
+Version: 1.11.0
 Homepage: https://github.com/PointCloudLibrary/pcl
 Description: Point Cloud Library (PCL) is open source library for 2D/3D image and point cloud processing.
-Build-Depends: eigen3, flann, qhull, vtk, libpng, boost-system, boost-filesystem, boost-thread, boost-date-time, boost-iostreams, boost-random, boost-foreach, boost-dynamic-bitset, boost-property-map, boost-graph, boost-multi-array, boost-signals2, boost-ptr-container, boost-uuid, boost-interprocess, boost-asio
+Build-Depends: eigen3, flann, qhull, vtk, libpng, boost-system, boost-filesystem, boost-thread, boost-date-time, boost-iostreams, boost-random, boost-foreach, boost-dynamic-bitset, boost-property-map, boost-graph, boost-multi-array, boost-signals2, boost-sort, boost-ptr-container, boost-uuid, boost-interprocess, boost-asio
 
 Feature: openni2
 Description: OpenNI2 support for PCL
diff --git a/ports/pcl/boost-1.70.patch b/ports/pcl/boost-1.70.patch
index c4b9955d2..eed9be033 100644
--- a/ports/pcl/boost-1.70.patch
+++ b/ports/pcl/boost-1.70.patch
@@ -1,27 +1,14 @@
-diff --git a/segmentation/include/pcl/segmentation/supervoxel_clustering.h b/segmentation/include/pcl/segmentation/supervoxel_clustering.h

-index 05e6002..99e3a07 100644

---- a/segmentation/include/pcl/segmentation/supervoxel_clustering.h

-+++ b/segmentation/include/pcl/segmentation/supervoxel_clustering.h

-@@ -525,7 +525,7 @@ namespace pcl

-       };

- 

-       //Make boost::ptr_list can access the private class SupervoxelHelper

--      friend void boost::checked_delete<> (const typename pcl::SupervoxelClustering<PointT>::SupervoxelHelper *);

-+      //friend void boost::checked_delete<> (const typename pcl::SupervoxelClustering<PointT>::SupervoxelHelper *);

- 

-       typedef boost::ptr_list<SupervoxelHelper> HelperListT;

-       HelperListT supervoxel_helpers_;

-diff --git a/CMakeLists.txt b/CMakeLists.txt

-index 68cc438..8cfa1c6 100644

---- a/CMakeLists.txt

-+++ b/CMakeLists.txt

-@@ -416,6 +416,9 @@ endif()

- 

- # Boost (required)

- include("${PCL_SOURCE_DIR}/cmake/pcl_find_boost.cmake")

-+if (NOT APPLE)

-+    add_definitions(-fext-numeric-literals)

-+endif()

- 

- ### ---[ Create the config.h file

- set(pcl_config_h_in "${CMAKE_CURRENT_SOURCE_DIR}/pcl_config.h.in")

+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index b301cf1..789b660 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -462,6 +462,9 @@ endif()
+ 
+ # Boost (required)
+ include("${PCL_SOURCE_DIR}/cmake/pcl_find_boost.cmake")
++if (NOT APPLE AND NOT WIN32)
++    add_definitions(-fext-numeric-literals)
++endif()
+ 
+ ### ---[ Create the config.h file
+ set(pcl_config_h_in "${CMAKE_CURRENT_SOURCE_DIR}/pcl_config.h.in")
diff --git a/ports/pcl/boost-1.73.patch b/ports/pcl/boost-1.73.patch
deleted file mode 100644
index d634d84bb..000000000
--- a/ports/pcl/boost-1.73.patch
+++ /dev/null
@@ -1,50 +0,0 @@
-diff --git a/common/include/pcl/PCLPointCloud2.h b/common/include/pcl/PCLPointCloud2.h
-index 6a00c1f..5d4ac1c 100644
---- a/common/include/pcl/PCLPointCloud2.h
-+++ b/common/include/pcl/PCLPointCloud2.h
-@@ -8,7 +8,7 @@
- #include <string>
- #include <vector>
- #include <ostream>
--#include <boost/detail/endian.hpp>
-+#include <boost/predef/other/endian.h>
- 
- // Include the correct Header path here
- #include <pcl/PCLHeader.h>
-@@ -23,9 +23,9 @@ namespace pcl
-                      is_bigendian (false), point_step (0), row_step (0),
-                      data (), is_dense (false)
-     {
--#if defined(BOOST_BIG_ENDIAN)
-+#if BOOST_ENDIAN_BIG_BYTE
-       is_bigendian = true;
--#elif defined(BOOST_LITTLE_ENDIAN)
-+#elif BOOST_ENDIAN_LITTLE_BYTE
-       is_bigendian = false;
- #else
- #error "unable to determine system endianness"
-diff --git a/io/include/pcl/io/ply/byte_order.h b/io/include/pcl/io/ply/byte_order.h
-index 2af95d0..8328015 100644
---- a/io/include/pcl/io/ply/byte_order.h
-+++ b/io/include/pcl/io/ply/byte_order.h
-@@ -40,7 +40,7 @@
- #ifndef PCL_IO_PLY_BYTE_ORDER_H
- #define PCL_IO_PLY_BYTE_ORDER_H
- 
--#include <boost/detail/endian.hpp>
-+#include <boost/predef/other/endian.h>
- 
- namespace pcl
- {
-@@ -58,9 +58,9 @@ namespace pcl
-       {
-         little_endian_byte_order,
-         big_endian_byte_order,
--#if defined(BOOST_BIG_ENDIAN)
-+#if BOOST_ENDIAN_BIG_BYTE
-         host_byte_order = big_endian_byte_order,
--#elif defined(BOOST_LITTLE_ENDIAN)
-+#elif BOOST_ENDIAN_LITTLE_BYTE
-         host_byte_order = little_endian_byte_order,
- #else
- #error "unable to determine system endianness"
diff --git a/ports/pcl/cuda_10_1.patch b/ports/pcl/cuda_10_1.patch
deleted file mode 100644
index 4b46149a4..000000000
--- a/ports/pcl/cuda_10_1.patch
+++ /dev/null
@@ -1,133 +0,0 @@
-diff --git a/cuda/common/include/pcl/cuda/thrust.h b/cuda/common/include/pcl/cuda/thrust.h
-index 57586ab..af073d7 100644
---- a/cuda/common/include/pcl/cuda/thrust.h
-+++ b/cuda/common/include/pcl/cuda/thrust.h
-@@ -42,6 +42,7 @@
-
- #include <thrust/host_vector.h>
- #include <thrust/device_vector.h>
-+#include <thrust/device_malloc.h>
- #include <thrust/copy.h>
- #include <thrust/device_ptr.h>
- #include <thrust/sequence.h>
-diff --git a/gpu/features/src/fpfh.cu b/gpu/features/src/fpfh.cu
-index 8d34f76..59a5f0c 100644
---- a/gpu/features/src/fpfh.cu
-+++ b/gpu/features/src/fpfh.cu
-@@ -231,12 +231,12 @@ namespace pcl
-                 int *sinds = sindices + Warp::WARP_SIZE * warp_idx;
-                 int size = sizes[idx];
- 
--                for(int i = lane; __any(i < size); i += Warp::STRIDE)                
-+                for(int i = lane; __any_sync(0xFFFFFFFF, i < size); i += Warp::STRIDE)                
-                 {
-                     if (i < size)
-                         sinds[lane] = ginds[i];
- 
--                    int inds_num = __popc(__ballot(i < size));
-+                    int inds_num = __popc(__ballot_sync(0xFFFFFFFF, i < size));
- 
-                     for(int j = 0; j < inds_num; ++j)
-                     {
-diff --git a/gpu/octree/src/cuda/approx_nsearch.cu b/gpu/octree/src/cuda/approx_nsearch.cu
-index e457255..3e1adfe 100644
---- a/gpu/octree/src/cuda/approx_nsearch.cu
-+++ b/gpu/octree/src/cuda/approx_nsearch.cu
-@@ -141,7 +141,7 @@ namespace pcl { namespace device { namespace appnearest_search
- 		{   
-             __shared__ volatile int  per_warp_buffer[KernelPolicy::WARPS_COUNT];
- 
--			int mask = __ballot(node_idx != -1);                        
-+			int mask = __ballot_sync(0xFFFFFFFF, node_idx != -1);                        
- 
- 			while(mask)
- 			{                
-@@ -275,7 +275,7 @@ namespace pcl { namespace device { namespace appnearest_search
- 
- 		bool active = query_index < batch.queries_num;
- 
--		if (__all(active == false)) 
-+		if (__all_sync(0xFFFFFFFF, active == false)) 
- 			return;
- 
- 		Warp_appNearestSearch search(batch, query_index);
-diff --git a/gpu/octree/src/cuda/knn_search.cu b/gpu/octree/src/cuda/knn_search.cu
-index a99655d..b55e3c1 100644
---- a/gpu/octree/src/cuda/knn_search.cu
-+++ b/gpu/octree/src/cuda/knn_search.cu
-@@ -106,7 +106,7 @@ namespace pcl { namespace device { namespace knn_search
-             else                
-                 query_index = -1;    
- 
--            while(__any(active))
-+            while(__any_sync(0xFFFFFFFF, active))
-             {                
-                 int leaf = -1;
-            
-@@ -163,7 +163,7 @@ namespace pcl { namespace device { namespace knn_search
- 
-         __device__ __forceinline__ void processLeaf(int node_idx)
-         {   
--            int mask = __ballot(node_idx != -1);            
-+            int mask = __ballot_sync(0xFFFFFFFF, node_idx != -1);            
- 
-             unsigned int laneId = Warp::laneId();
-             unsigned int warpId = Warp::id();
-@@ -310,7 +310,7 @@ namespace pcl { namespace device { namespace knn_search
-                                 
-         bool active = query_index < batch.queries_num;
- 
--        if (__all(active == false)) 
-+        if (__all_sync(0xFFFFFFFF, active == false)) 
-             return;
- 
-         Warp_knnSearch search(batch, query_index);
-diff --git a/gpu/octree/src/cuda/radius_search.cu b/gpu/octree/src/cuda/radius_search.cu
-index f90273f..8ae84e7 100644
---- a/gpu/octree/src/cuda/radius_search.cu
-+++ b/gpu/octree/src/cuda/radius_search.cu
-@@ -155,7 +155,7 @@ namespace pcl
-                 else                
-                     query_index = -1;
- 
--                while(__any(active))
-+                while(__any_sync(0xFFFFFFFF, active))
-                 {                
-                     int leaf = -1;                
- 
-@@ -217,7 +217,7 @@ namespace pcl
- 
-             __device__ __forceinline__ void processLeaf(int leaf)
-             {   
--                int mask = __ballot(leaf != -1);            
-+                int mask = __ballot_sync(0xFFFFFFFF, leaf != -1);            
- 
-                 while(mask)
-                 {                
-@@ -255,7 +255,7 @@ namespace pcl
-                     int *out = batch.output + active_query_index * batch.max_results + active_found_count;                    
-                     int length_left = batch.max_results - active_found_count;
- 
--                    int test = __any(active_lane == laneId && (leaf & KernelPolicy::CHECK_FLAG));
-+                    int test = __any_sync(0xFFFFFFFF, active_lane == laneId && (leaf & KernelPolicy::CHECK_FLAG));
- 
-                     if (test)
-                     {                                        
-@@ -329,7 +329,7 @@ namespace pcl
-                     total_new += new_nodes;
-                     out += new_nodes;                
- 
--                    if (__all(idx >= length) || __any(out_of_bounds) || total_new == length_left)
-+                    if (__all_sync(0xFFFFFFFF, idx >= length) || __any_sync(0xFFFFFFFF, out_of_bounds) || total_new == length_left)
-                         break;
-                 }
-                 return min(total_new, length_left);
-@@ -343,7 +343,7 @@ namespace pcl
- 
-             bool active = query_index < batch.queries.size;
- 
--            if (__all(active == false)) 
-+            if (__all_sync(0xFFFFFFFF, active == false)) 
-                 return;
- 
-             Warp_radiusSearch<BatchType> search(batch, query_index);
diff --git a/ports/pcl/fix-link-libpng.patch b/ports/pcl/fix-link-libpng.patch
index 9d1e25a17..2d5ea5f3b 100644
--- a/ports/pcl/fix-link-libpng.patch
+++ b/ports/pcl/fix-link-libpng.patch
@@ -1,20 +1,20 @@
 diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
-index a17cb2d..b2a56b3 100644
+index f234971..86ea242 100644
 --- a/io/CMakeLists.txt
 +++ b/io/CMakeLists.txt
-@@ -330,11 +330,13 @@ if(build)
-     add_definitions(${VTK_DEFINES})
-     PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${compression_incs} ${impl_incs} ${OPENNI_INCLUDES} ${OPENNI2_INCLUDES})
-     target_include_directories(${LIB_NAME} PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/include" ${VTK_INCLUDE_DIRECTORIES})
--    link_directories(${VTK_LINK_DIRECTORIES})
--    target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES} )
-+    
-     if(PNG_FOUND)
-       target_link_libraries("${LIB_NAME}" ${PNG_LIBRARIES})
-     endif(PNG_FOUND)
-+    
-+    link_directories(${VTK_LINK_DIRECTORIES})
-+    target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES} )
+@@ -333,12 +333,13 @@ set(LIB_NAME "pcl_${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()
  
-     if(LIBUSB_1_FOUND)
-       target_link_libraries("${LIB_NAME}" ${LIBUSB_1_LIBRARIES})
++link_directories(${VTK_LINK_DIRECTORIES})
++target_link_libraries("${LIB_NAME}" pcl_common pcl_io_ply ${VTK_LIBRARIES})
++
+ if(LIBUSB_1_FOUND)
+   target_link_libraries("${LIB_NAME}" ${LIBUSB_1_LIBRARIES})
+ endif()
diff --git a/ports/pcl/pcl_config.patch b/ports/pcl/pcl_config.patch
index 17af6cfb6..60bcec8a5 100644
--- a/ports/pcl/pcl_config.patch
+++ b/ports/pcl/pcl_config.patch
@@ -1,45 +1,33 @@
 diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
-index 7ec40baa0..837d78c82 100644
+index 9f78fcf..0cbe94f 100644
 --- a/PCLConfig.cmake.in
 +++ b/PCLConfig.cmake.in
-@@ -388,25 +388,18 @@ file(TO_CMAKE_PATH "${PCL_DIR}" PCL_DIR)
+@@ -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 "${PCL_ROOT}" PATH)
- else(WIN32 AND NOT MINGW)
+ else()
  # PCLConfig.cmake is installed to PCL_ROOT/share/pcl-x.y
    get_filename_component(PCL_ROOT "${CMAKE_CURRENT_LIST_DIR}/../.." ABSOLUTE)
- endif(WIN32 AND NOT MINGW)
+ 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}.${PCL_VERSION_MINOR}/pcl/pcl_config.h")
-+if(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
-   # Found a PCL installation
-   # pcl_message("Found a PCL installation")
--  set(PCL_INCLUDE_DIRS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
+-  # Found a PCL installation
+-  # pcl_message("Found a PCL installation")
+-  set(PCL_CONF_INCLUDE_DIR "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
 -  set(PCL_LIBRARY_DIRS "${PCL_ROOT}/@LIB_INSTALL_DIR@")
 -  if(EXISTS "${PCL_ROOT}/3rdParty")
 -    set(PCL_ALL_IN_ONE_INSTALLER ON)
--  endif(EXISTS "${PCL_ROOT}/3rdParty")
+-  endif()
 -elseif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
 -  # Found a non-standard (likely ANDROID) PCL installation
 -  # pcl_message("Found a PCL installation")
-   set(PCL_INCLUDE_DIRS "${PCL_ROOT}/include")
++if(EXISTS "${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 "${PCL_ROOT}/3rdParty")
      set(PCL_ALL_IN_ONE_INSTALLER ON)
-   endif(EXISTS "${PCL_ROOT}/3rdParty")
-@@ -416,9 +409,9 @@ elseif(EXISTS "${PCL_DIR}/include/pcl/pcl_config.h")
-   set(PCL_INCLUDE_DIRS "${PCL_DIR}/include") # for pcl_config.h
-   set(PCL_LIBRARY_DIRS "${PCL_DIR}/@LIB_INSTALL_DIR@")
-   set(PCL_SOURCES_TREE "@CMAKE_SOURCE_DIR@")
--else(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/pcl_config.h")
-+else(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
-   pcl_report_not_found("PCL can not be found on this machine")
--endif(EXISTS "${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}/pcl/pcl_config.h")
-+endif(EXISTS "${PCL_ROOT}/include/pcl/pcl_config.h")
- 
- #set a suffix for debug libraries
- set(PCL_DEBUG_SUFFIX "@CMAKE_DEBUG_POSTFIX@")
+   endif()
diff --git a/ports/pcl/pcl_utils.patch b/ports/pcl/pcl_utils.patch
index 9c12e4d05..21b7593ac 100644
--- a/ports/pcl/pcl_utils.patch
+++ b/ports/pcl/pcl_utils.patch
@@ -1,28 +1,28 @@
 diff --git a/cmake/pcl_utils.cmake b/cmake/pcl_utils.cmake
-index f523dbc8c..a171b6d24 100644
+index d87d02d..7c951bf 100644
 --- a/cmake/pcl_utils.cmake
 +++ b/cmake/pcl_utils.cmake
-@@ -97,21 +97,12 @@ macro(SET_INSTALL_DIRS)
-   if (NOT DEFINED LIB_INSTALL_DIR)
+@@ -94,21 +94,12 @@ macro(SET_INSTALL_DIRS)
+   if(NOT DEFINED LIB_INSTALL_DIR)
      set(LIB_INSTALL_DIR "lib")
-   endif (NOT DEFINED LIB_INSTALL_DIR)
+   endif()
 -    if(NOT ANDROID)
 -      set(INCLUDE_INSTALL_ROOT
 -          "include/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
--    else(NOT ANDROID)
+-    else()
 -      set(INCLUDE_INSTALL_ROOT "include") # Android, don't put into subdir
--    endif(NOT ANDROID)
-+    set(INCLUDE_INSTALL_ROOT "include") 
+-    endif()
++    set(INCLUDE_INSTALL_ROOT "include")
      set(INCLUDE_INSTALL_DIR "${INCLUDE_INSTALL_ROOT}/pcl")
      set(DOC_INSTALL_DIR "share/doc/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
      set(BIN_INSTALL_DIR "bin")
      set(PKGCFG_INSTALL_DIR "${LIB_INSTALL_DIR}/pkgconfig")
 -    if(WIN32 AND NOT MINGW)
 -        set(PCLCONFIG_INSTALL_DIR "cmake")
--      else(WIN32 AND NOT MINGW)
+-      else()
 -        set(PCLCONFIG_INSTALL_DIR "share/${PROJECT_NAME_LOWER}-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR}")
--      endif(WIN32 AND NOT MINGW)
+-      endif()
 +    set(PCLCONFIG_INSTALL_DIR "share/pcl")
- endmacro(SET_INSTALL_DIRS)
+ endmacro()
  
  
diff --git a/ports/pcl/portfile.cmake b/ports/pcl/portfile.cmake
index ef3cf959e..378601155 100644
--- a/ports/pcl/portfile.cmake
+++ b/ports/pcl/portfile.cmake
@@ -1,25 +1,30 @@
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO PointCloudLibrary/pcl
-    REF pcl-1.9.1
-    SHA512 ca95028c23861ac2df0fa7e18fdd0202255cb2e49ab714325eb36c35289442c6eedbf489e6f9f232b30fa2a93eff4c9619f8a14d3fdfe58f353a4a6e26206bdf
+    REF f9f214f34a38d5bb67441140703a681c5d299906 # pcl-1.11.0
+    SHA512 7d1bbadcd6843001895bd1faeb5ad4166f7746bf77f83573160507746d438797fbe9e283a8989f517fe1dc7195934ad59e008b4fce61e5943ce6426d49141365
     HEAD_REF master
     PATCHES
         pcl_utils.patch
         pcl_config.patch
         use_flann_targets.patch
         boost-1.70.patch
-        cuda_10_1.patch
-        # Patch for https://github.com/microsoft/vcpkg/issues/7660
-        use_target_link_libraries_in_pclconfig.patch
         fix-link-libpng.patch
-        boost-1.73.patch
+        remove-broken-targets.patch
 )
 
 file(REMOVE ${SOURCE_PATH}/cmake/Modules/FindFLANN.cmake)
 
 string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "dynamic" PCL_SHARED_LIBS)
 
+if ("cuda" IN_LIST FEATURES AND VCPKG_TARGET_ARCHITECTURE STREQUAL x86)
+    message(FATAL_ERROR "Feature cuda only supports 64-bit compilation.")
+endif()
+
+if ("tools" IN_LIST FEATURES AND VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    message(FATAL_ERROR "Feature tools only supports dynamic build")
+endif()
+
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
     openni2     WITH_OPENNI2
     qt          WITH_QT
diff --git a/ports/pcl/remove-broken-targets.patch b/ports/pcl/remove-broken-targets.patch
new file mode 100644
index 000000000..b6a583153
--- /dev/null
+++ b/ports/pcl/remove-broken-targets.patch
@@ -0,0 +1,20 @@
+diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
+index 1911f7b..11566a2 100644
+--- a/tools/CMakeLists.txt
++++ b/tools/CMakeLists.txt
+@@ -123,15 +123,6 @@ target_link_libraries(pcl_concatenate_points_pcd pcl_common pcl_io)
+ PCL_ADD_EXECUTABLE(pcl_poisson_reconstruction COMPONENT ${SUBSYS_NAME} SOURCES poisson_reconstruction.cpp)
+ target_link_libraries(pcl_poisson_reconstruction pcl_common pcl_io pcl_surface)
+ 
+-PCL_ADD_EXECUTABLE(pcl_train_linemod_template COMPONENT ${SUBSYS_NAME} SOURCES train_linemod_template.cpp)
+-target_link_libraries(pcl_train_linemod_template pcl_common pcl_io pcl_segmentation pcl_recognition)
+-
+-PCL_ADD_EXECUTABLE(pcl_match_linemod_template COMPONENT ${SUBSYS_NAME} SOURCES match_linemod_template.cpp)
+-target_link_libraries(pcl_match_linemod_template pcl_common pcl_io pcl_recognition)
+-
+-PCL_ADD_EXECUTABLE(pcl_linemod_detection COMPONENT ${SUBSYS_NAME} SOURCES linemod_detection.cpp)
+-target_link_libraries(pcl_linemod_detection pcl_common pcl_io pcl_recognition)
+-
+ PCL_ADD_EXECUTABLE(pcl_fast_bilateral_filter COMPONENT ${SUBSYS_NAME} SOURCES fast_bilateral_filter.cpp)
+ target_link_libraries(pcl_fast_bilateral_filter pcl_common pcl_io pcl_filters)
+ 
diff --git a/ports/pcl/use_flann_targets.patch b/ports/pcl/use_flann_targets.patch
index 7e6289267..a948cc010 100644
--- a/ports/pcl/use_flann_targets.patch
+++ b/ports/pcl/use_flann_targets.patch
@@ -1,8 +1,8 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 0b4c1a3..94bb484 100755
+index 93a6448..b24f681 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -280,11 +280,9 @@ find_package(Eigen REQUIRED)
+@@ -302,10 +302,9 @@ find_package(Eigen 3.1 REQUIRED)
  include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})
  
  # FLANN (required)
@@ -11,145 +11,87 @@ index 0b4c1a3..94bb484 100755
 -endif()
 +set(FLANN_USE_STATIC ON)
  find_package(FLANN 1.7.0 REQUIRED)
--include_directories(${FLANN_INCLUDE_DIRS})
 +find_package(lz4)
  
  # libusb-1.0
  option(WITH_LIBUSB "Build USB RGBD-Camera drivers" TRUE)
 diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in
-index 6fadb59..6a9c5b7 100755
+index 79077fb..042467b 100644
 --- a/PCLConfig.cmake.in
 +++ b/PCLConfig.cmake.in
-@@ -226,12 +226,6 @@ endmacro(find_rssdk)
+@@ -88,11 +88,6 @@ endmacro()
  
- #remove this as soon as flann is shipped with FindFlann.cmake
- macro(find_flann)
+ ### ---[ 3rd party libraries
+ macro(find_boost)
 -  if(PCL_ALL_IN_ONE_INSTALLER)
--    set(FLANN_ROOT "${PCL_ROOT}/3rdParty/Flann")
--  elseif(NOT FLANN_ROOT)
--    get_filename_component(FLANN_ROOT "@FLANN_INCLUDE_DIRS@" PATH)
--  endif(PCL_ALL_IN_ONE_INSTALLER)
--
-   set(FLANN_USE_STATIC @FLANN_USE_STATIC@)
-   find_package(FLANN)
- endmacro(find_flann)
-@@ -651,7 +645,7 @@ endif(NOT "${PCL_DEFINITIONS}" STREQUAL "")
- pcl_remove_duplicate_libraries(PCL_COMPONENTS PCL_LIBRARIES)
+-    set(BOOST_ROOT "${PCL_ROOT}/3rdParty/Boost")
+-  elseif(NOT BOOST_INCLUDEDIR)
+-    set(BOOST_INCLUDEDIR "@Boost_INCLUDE_DIR@")
+-  endif()
+   # use static Boost in Windows
+   if(WIN32)
+     set(Boost_USE_STATIC_LIBS @Boost_USE_STATIC_LIBS@)
+@@ -667,8 +662,8 @@ pcl_remove_duplicate_libraries(PCL_COMPONENTS PCL_LIBRARIES)
  
  # Add 3rd party libraries, as user code might include our .HPP implementations
--list(APPEND PCL_LIBRARIES ${BOOST_LIBRARIES} ${QHULL_LIBRARIES} ${OPENNI_LIBRARIES} ${OPENNI2_LIBRARIES} ${ENSENSO_LIBRARIES} ${davidSDK_LIBRARIES} ${DSSDK_LIBRARIES} ${RSSDK_LIBRARIES} ${FLANN_LIBRARIES} ${VTK_LIBRARIES})
-+list(APPEND PCL_LIBRARIES ${BOOST_LIBRARIES} ${QHULL_LIBRARIES} ${OPENNI_LIBRARIES} ${OPENNI2_LIBRARIES} ${ENSENSO_LIBRARIES} ${davidSDK_LIBRARIES} ${DSSDK_LIBRARIES} ${RSSDK_LIBRARIES} flann::flann_cpp ${VTK_LIBRARIES})
+ list(APPEND PCL_LIBRARIES ${BOOST_LIBRARIES} ${QHULL_LIBRARIES} ${OPENNI_LIBRARIES} ${OPENNI2_LIBRARIES} ${ENSENSO_LIBRARIES} ${davidSDK_LIBRARIES} ${DSSDK_LIBRARIES} ${RSSDK_LIBRARIES} ${RSSDK2_LIBRARIES} ${VTK_LIBRARIES})
+-if (TARGET FLANN::FLANN)
+-  list(APPEND PCL_LIBRARIES FLANN::FLANN)
++if (TARGET flann::flann_cpp)
++  list(APPEND PCL_LIBRARIES flann::flann_cpp)
+ endif()
  
  find_package_handle_standard_args(PCL DEFAULT_MSG PCL_LIBRARIES PCL_INCLUDE_DIRS)
- mark_as_advanced(PCL_LIBRARIES PCL_INCLUDE_DIRS PCL_LIBRARY_DIRS)
 diff --git a/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt b/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt
-index 9693792..dcd4373 100755
+index 7d25d3f..18227a6 100644
 --- a/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt
 +++ b/doc/tutorials/content/sources/vfh_recognition/CMakeLists.txt
-@@ -1,6 +1,6 @@
- cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+@@ -16,7 +16,7 @@ include_directories(SYSTEM
  
--# we need FindFLANN.cmake 
-+# we need FindFLANN.cmake
- list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
+ add_executable(build_tree build_tree.cpp)
+ target_link_libraries(build_tree ${PCL_LIBRARIES} ${Boost_LIBRARIES}
+-                                 FLANN::FLANN ${HDF5_LIBRARIES})
++                                 flann::flann_cpp ${HDF5_LIBRARIES})
  
- project(vfh_cluster_classifier)
-@@ -14,16 +14,15 @@ find_package(HDF5)
- if(HDF5_FOUND)
- 
-   find_package(FLANN)
--  include_directories(${FLANN_INCLUDE_DIRS})
- 
-   include_directories(${HDF5_INCLUDE_DIR})
- 
-   add_executable(build_tree build_tree.cpp)
-   target_link_libraries(build_tree ${PCL_LIBRARIES} ${Boost_LIBRARIES}
--                                 ${FLANN_LIBRARIES} ${HDF5_hdf5_LIBRARY})
-+                                 flann::flann_cpp ${HDF5_hdf5_LIBRARY})
- 
-   add_executable(nearest_neighbors nearest_neighbors.cpp)
--  target_link_libraries(nearest_neighbors ${PCL_LIBRARIES} 
--                                        ${Boost_LIBRARIES} ${FLANN_LIBRARIES} ${HDF5_hdf5_LIBRARY} 
-+  target_link_libraries(nearest_neighbors ${PCL_LIBRARIES}
-+                                        ${Boost_LIBRARIES} flann::flann_cpp ${HDF5_hdf5_LIBRARY}
-                                         )
- endif(HDF5_FOUND)
+ add_executable(nearest_neighbors nearest_neighbors.cpp)
+-target_link_libraries(nearest_neighbors ${PCL_LIBRARIES} ${Boost_LIBRARIES} FLANN::FLANN ${HDF5_LIBRARIES})
++target_link_libraries(nearest_neighbors ${PCL_LIBRARIES} ${Boost_LIBRARIES} flann::flann_cpp ${HDF5_LIBRARIES})
 diff --git a/kdtree/CMakeLists.txt b/kdtree/CMakeLists.txt
-index 311dffc..1a7712f 100755
+index 826e902..f714130 100644
 --- a/kdtree/CMakeLists.txt
 +++ b/kdtree/CMakeLists.txt
-@@ -9,18 +9,18 @@ PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} EXT_DEPS flann)
- PCL_ADD_DOC("${SUBSYS_NAME}")
+@@ -31,7 +31,7 @@ set(impl_incs
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
+-target_link_libraries("${LIB_NAME}" pcl_common FLANN::FLANN)
++target_link_libraries("${LIB_NAME}" pcl_common flann::flann_cpp)
+ set(EXT_DEPS flann)
+ PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS} EXT_DEPS ${EXT_DEPS})
  
- if(build)
--    set(srcs 
-+    set(srcs
-         src/kdtree_flann.cpp
-         )
- 
--    set(incs 
-+    set(incs
-         "include/pcl/${SUBSYS_NAME}/kdtree.h"
-         "include/pcl/${SUBSYS_NAME}/io.h"
-         "include/pcl/${SUBSYS_NAME}/flann.h"
-         "include/pcl/${SUBSYS_NAME}/kdtree_flann.h"
-         )
- 
--    set(impl_incs 
-+    set(impl_incs
-         "include/pcl/${SUBSYS_NAME}/impl/io.hpp"
-         "include/pcl/${SUBSYS_NAME}/impl/kdtree_flann.hpp"
-         )
-@@ -28,7 +28,7 @@ if(build)
-     set(LIB_NAME "pcl_${SUBSYS_NAME}")
-     include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
-     PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
--    target_link_libraries("${LIB_NAME}" pcl_common ${FLANN_LIBRARIES})
-+    target_link_libraries("${LIB_NAME}" pcl_common flann::flann_cpp)
-     set(EXT_DEPS flann)
-     PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}"
-                        "${SUBSYS_DEPS}" "${EXT_DEPS}" "" "" "")
-@@ -38,4 +38,3 @@ if(build)
-     PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
- 
- endif(build)
--
 diff --git a/search/CMakeLists.txt b/search/CMakeLists.txt
-index cd82a0e..1d15241 100755
+index 46f4632..67c5e53 100644
 --- a/search/CMakeLists.txt
 +++ b/search/CMakeLists.txt
-@@ -38,7 +38,7 @@ if(build)
-     set(LIB_NAME "pcl_${SUBSYS_NAME}")
-     include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
-     PCL_ADD_LIBRARY("${LIB_NAME}" "${SUBSYS_NAME}" ${srcs} ${incs} ${impl_incs})
--    target_link_libraries("${LIB_NAME}" pcl_common ${FLANN_LIBRARIES} pcl_octree pcl_kdtree)
-+    target_link_libraries("${LIB_NAME}" pcl_common flann::flann_cpp pcl_octree pcl_kdtree)
-     list(APPEND EXT_DEPS flann)
-     PCL_MAKE_PKGCONFIG("${LIB_NAME}" "${SUBSYS_NAME}" "${SUBSYS_DESC}" "${SUBSYS_DEPS}" "" "" "" "")
- 
-@@ -46,4 +46,3 @@ if(build)
-     PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_NAME}/impl" ${impl_incs})
+@@ -41,7 +41,7 @@ set(impl_incs
+ set(LIB_NAME "pcl_${SUBSYS_NAME}")
+ include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
+ PCL_ADD_LIBRARY(${LIB_NAME} COMPONENT ${SUBSYS_NAME} SOURCES ${srcs} ${incs} ${impl_incs})
+-target_link_libraries("${LIB_NAME}" pcl_common FLANN::FLANN pcl_octree pcl_kdtree)
++target_link_libraries("${LIB_NAME}" pcl_common flann::flann_cpp pcl_octree pcl_kdtree)
+ list(APPEND EXT_DEPS flann)
+ PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_DEPS ${SUBSYS_DEPS})
  
- endif(build)
--
 diff --git a/test/features/CMakeLists.txt b/test/features/CMakeLists.txt
-index cedb0cb..4b37c73 100755
+index 9775415..bf582ac 100644
 --- a/test/features/CMakeLists.txt
 +++ b/test/features/CMakeLists.txt
-@@ -81,14 +81,14 @@ if (build)
-     PCL_ADD_TEST(feature_flare_estimation test_flare_estimation
-                  FILES test_flare_estimation.cpp
-                  LINK_WITH pcl_gtest pcl_features pcl_io
--                 ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")				 
-+                 ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
-     PCL_ADD_TEST(feature_shot_lrf_estimation test_shot_lrf_estimation
-                  FILES test_shot_lrf_estimation.cpp
-                  LINK_WITH pcl_gtest pcl_features pcl_io
-                  ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
-     PCL_ADD_TEST(features_narf test_narf
-                  FILES test_narf.cpp
--                 LINK_WITH pcl_gtest pcl_features ${FLANN_LIBRARIES})
-+                 LINK_WITH pcl_gtest pcl_features flann::flann_cpp)
-     PCL_ADD_TEST(a_ii_normals_test test_ii_normals
-                  FILES test_ii_normals.cpp
-                  LINK_WITH pcl_gtest pcl_io pcl_features
+@@ -91,7 +91,7 @@ if(BUILD_io)
+                ARGUMENTS "${PCL_SOURCE_DIR}/test/bun0.pcd")
+   PCL_ADD_TEST(features_narf test_narf
+                FILES test_narf.cpp
+-               LINK_WITH pcl_gtest pcl_features FLANN::FLANN)
++               LINK_WITH pcl_gtest pcl_features flann::flann_cpp)
+   PCL_ADD_TEST(a_ii_normals_test test_ii_normals
+                FILES test_ii_normals.cpp
+                LINK_WITH pcl_gtest pcl_io pcl_features
diff --git a/ports/pcl/use_target_link_libraries_in_pclconfig.patch b/ports/pcl/use_target_link_libraries_in_pclconfig.patch
deleted file mode 100644
index 65f622e6f..000000000
--- a/ports/pcl/use_target_link_libraries_in_pclconfig.patch
+++ /dev/null
@@ -1,31 +0,0 @@
-diff --git a/PCLConfig.cmake.in b/PCLConfig.cmake.in

-index f1c2ca5..d28cb63 100644

---- a/PCLConfig.cmake.in

-+++ b/PCLConfig.cmake.in

-@@ -609,7 +609,7 @@ foreach(component ${PCL_TO_FIND_COMPONENTS})

-             INTERFACE_INCLUDE_DIRECTORIES "${PCL_${COMPONENT}_INCLUDE_DIRS}"

-             INTERFACE_LINK_LIBRARIES "${PCL_${COMPONENT}_LINK_LIBRARIES}"

-         )

--      else()

-+      elseif(CMAKE_VERSION VERSION_LESS 3.11)

-         set_target_properties(${pcl_component}

-           PROPERTIES

-             INTERFACE_COMPILE_DEFINITIONS "${definitions}"

-@@ -617,6 +617,17 @@ foreach(component ${PCL_TO_FIND_COMPONENTS})

-             INTERFACE_INCLUDE_DIRECTORIES "${PCL_${COMPONENT}_INCLUDE_DIRS}"

-             INTERFACE_LINK_LIBRARIES "${PCL_${COMPONENT}_LINK_LIBRARIES}"

-         )

-+      else()

-+        set_target_properties(${pcl_component}

-+          PROPERTIES

-+            INTERFACE_COMPILE_DEFINITIONS "${definitions}"

-+            INTERFACE_COMPILE_OPTIONS "$<$<COMPILE_LANGUAGE:CXX>:${PCL_COMPILE_OPTIONS}>"

-+            INTERFACE_INCLUDE_DIRECTORIES "${PCL_${COMPONENT}_INCLUDE_DIRS}"

-+        )

-+        # If possible, we use target_link_libraries to avoid problems with link-type keywords,

-+        # see https://github.com/PointCloudLibrary/pcl/issues/2989

-+        # target_link_libraries on imported libraries is supported only since CMake 3.11

-+        target_link_libraries(${pcl_component} INTERFACE ${PCL_${COMPONENT}_LINK_LIBRARIES})

-       endif()

-       set(PCL_${COMPONENT}_LIBRARIES ${pcl_component})

-     endif()