From 383440cb3eb69e1747691c27685c76fe29420691 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 03:57:51 +0000
Subject: [PATCH 01/46] Stub out initial github workflow to build with CMake

---
 .github/workflows/cmake_ci.yaml | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)
 create mode 100644 .github/workflows/cmake_ci.yaml

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
new file mode 100644
index 00000000000..1fea345fe53
--- /dev/null
+++ b/.github/workflows/cmake_ci.yaml
@@ -0,0 +1,18 @@
+name: Build
+on:
+  push:
+jobs:
+  build-project:
+    name: Build Project
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout Project
+        uses: actions/checkout@v4.2.2
+
+      - name: Install apt dependencies uses: awalsh128/cache-apt-pkgs-action@latest
+        with:
+          packages: libfmt-dev libg2o-dev libopencv-dev
+          version: 1.0
+
+      - name: Build Project
+        uses: threeal/cmake-action@v2.1.0

From e56a08cc1598f02faf36706bf61430f679318027 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 04:01:58 +0000
Subject: [PATCH 02/46] Update run conditions

---
 .github/workflows/cmake_ci.yaml | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 1fea345fe53..780e261bccb 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -1,6 +1,12 @@
 name: Build
+
 on:
+  pull_request:
   push:
+    branches:
+      - master
+  workflow_dispatch:
+
 jobs:
   build-project:
     name: Build Project

From 3e99ceb50d5519698df8560fa5841566b0f7ddd5 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 04:03:36 +0000
Subject: [PATCH 03/46] Correct YAML error

---
 .github/workflows/cmake_ci.yaml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 780e261bccb..ce1f528b550 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -15,7 +15,8 @@ jobs:
       - name: Checkout Project
         uses: actions/checkout@v4.2.2
 
-      - name: Install apt dependencies uses: awalsh128/cache-apt-pkgs-action@latest
+      - name: Install apt dependencies
+        uses: awalsh128/cache-apt-pkgs-action@latest
         with:
           packages: libfmt-dev libg2o-dev libopencv-dev
           version: 1.0

From 0e20e3d4633229b5e1fbb2c8b5b0918932e47bcc Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 04:13:48 +0000
Subject: [PATCH 04/46] Add run-vcpkg to install Pangolin

---
 .github/workflows/cmake_ci.yaml | 5 +++++
 vcpkg.json                      | 6 ++++++
 2 files changed, 11 insertions(+)
 create mode 100644 vcpkg.json

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index ce1f528b550..69a0b76e59c 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -21,5 +21,10 @@ jobs:
           packages: libfmt-dev libg2o-dev libopencv-dev
           version: 1.0
 
+      - name: Build Pangolin with vcpkg
+        uses: lukka/run-vcpkg@v11
+        with:
+          runVcpkgInstall: true
+
       - name: Build Project
         uses: threeal/cmake-action@v2.1.0
diff --git a/vcpkg.json b/vcpkg.json
new file mode 100644
index 00000000000..d54b47d53aa
--- /dev/null
+++ b/vcpkg.json
@@ -0,0 +1,6 @@
+{
+  "$schema": "https://raw.githubusercontent.com/microsoft/vcpkg-tool/main/docs/vcpkg.schema.json",
+  "dependencies": [
+    "pangolin"
+  ]
+}

From dd6dd730ddac3f8e449126742b6c6ca608b4562d Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 04:19:18 +0000
Subject: [PATCH 05/46] Update vcpkg.json

---
 vcpkg.json | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/vcpkg.json b/vcpkg.json
index d54b47d53aa..cce84e8f86c 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -1,5 +1,6 @@
 {
-  "$schema": "https://raw.githubusercontent.com/microsoft/vcpkg-tool/main/docs/vcpkg.schema.json",
+  "name": "main",
+  "version-string": "latest",
   "dependencies": [
     "pangolin"
   ]

From bd00dbe7141de74baadd912eb4043e892a5cfac5 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 04:26:03 +0000
Subject: [PATCH 06/46] Add vcpkg configuration

---
 vcpkg.json | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/vcpkg.json b/vcpkg.json
index cce84e8f86c..4f906ca5eed 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -1,6 +1,14 @@
 {
   "name": "main",
   "version-string": "latest",
+  "configuration": {
+    "default-registry":
+        {
+          "kind": "git",
+          "baseline": "e3db8f65d2414c301c29a8467c6aee94e3ba09fc",
+          "repository": "https://github.com/Microsoft/vcpkg"
+        }
+  },
   "dependencies": [
     "pangolin"
   ]

From 9d430196a56c964c82b666f9933cee794e586eb4 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 04:31:00 +0000
Subject: [PATCH 07/46] Add vcpkgGitCommitId to CI file

---
 .github/workflows/cmake_ci.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 69a0b76e59c..1c842ea5af6 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -25,6 +25,7 @@ jobs:
         uses: lukka/run-vcpkg@v11
         with:
           runVcpkgInstall: true
+          vcpkgGitCommitId: e3db8f65d2414c301c29a8467c6aee94e3ba09fc
 
       - name: Build Project
         uses: threeal/cmake-action@v2.1.0

From 789f19ced6c9defb6a4b080812930b0ac1344973 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 04:33:08 +0000
Subject: [PATCH 08/46] Add nasm to packages

---
 .github/workflows/cmake_ci.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 1c842ea5af6..21998ade6b0 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -18,7 +18,7 @@ jobs:
       - name: Install apt dependencies
         uses: awalsh128/cache-apt-pkgs-action@latest
         with:
-          packages: libfmt-dev libg2o-dev libopencv-dev
+          packages: libfmt-dev libg2o-dev libopencv-dev nasm
           version: 1.0
 
       - name: Build Pangolin with vcpkg

From 2bc78cfdc0588c88fe9bdb178e4a43ba437ce245 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 04:45:46 +0000
Subject: [PATCH 09/46] Add Pangolin APT dependencies

---
 .github/workflows/cmake_ci.yaml | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 21998ade6b0..d92e0bcd0e0 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -18,7 +18,9 @@ jobs:
       - name: Install apt dependencies
         uses: awalsh128/cache-apt-pkgs-action@latest
         with:
-          packages: libfmt-dev libg2o-dev libopencv-dev nasm
+          packages: libfmt-dev libg2o-dev libopencv-dev nasm \
+                  libgl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols libegl1-mesa-dev \
+                  libc++-dev libepoxy-dev libglew-dev libeigen3-dev cmake g++ ninja-build
           version: 1.0
 
       - name: Build Pangolin with vcpkg

From d146456ccb9f54247f2cfac8ffe27d1f29ff39a0 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 05:31:30 +0000
Subject: [PATCH 10/46] Integate vcpkg into CMake

---
 .github/workflows/cmake_ci.yaml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index d92e0bcd0e0..2dc67ce4457 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -31,3 +31,6 @@ jobs:
 
       - name: Build Project
         uses: threeal/cmake-action@v2.1.0
+        with:
+          options: |
+            -DCMAKE_TOOLCHAIN_FILE=${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg

From ba2f3aa2aba0f5dc3e64225eee4e7878451aaa4f Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 05:43:52 +0000
Subject: [PATCH 11/46] vcpkg caching, try config mode

---
 .github/workflows/cmake_ci.yaml | 3 +++
 CMakeLists.txt                  | 3 ++-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 2dc67ce4457..f7a0bdd835c 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -19,6 +19,7 @@ jobs:
         uses: awalsh128/cache-apt-pkgs-action@latest
         with:
           packages: libfmt-dev libg2o-dev libopencv-dev nasm \
+                  libx11-dev libgles2-mesa-dev \
                   libgl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols libegl1-mesa-dev \
                   libc++-dev libepoxy-dev libglew-dev libeigen3-dev cmake g++ ninja-build
           version: 1.0
@@ -28,6 +29,8 @@ jobs:
         with:
           runVcpkgInstall: true
           vcpkgGitCommitId: e3db8f65d2414c301c29a8467c6aee94e3ba09fc
+          # Enable caching of built packages
+          doNotCache: false
 
       - name: Build Project
         uses: threeal/cmake-action@v2.1.0
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a03a584b5f2..25c5b40937f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,7 +26,7 @@ MESSAGE("OPENCV VERSION:")
 MESSAGE(${OpenCV_VERSION})
 
 find_package(Eigen3 3.1.0 REQUIRED)
-find_package(Pangolin REQUIRED)
+find_package(Pangolin CONFIG REQUIRED)
 find_package(Sophus REQUIRED)
 find_package(g2o REQUIRED)
 find_package(fmt REQUIRED)
@@ -73,6 +73,7 @@ add_library(${PROJECT_NAME} SHARED
         src/TwoViewReconstruction.cc
         src/Viewer.cc
 )
+target_compile_definitions(${PROJECT_NAME} PUBLIC REGISTER_TIMES)
 
 target_link_libraries(${PROJECT_NAME}
         ${OpenCV_LIBS}

From a9a2f641edb7d644067eb9eec88932826faf1388 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 16:16:39 +0000
Subject: [PATCH 12/46] Correct syntax for cmake-action option

---
 .github/workflows/cmake_ci.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index f7a0bdd835c..2e7bb4b63f9 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -36,4 +36,4 @@ jobs:
         uses: threeal/cmake-action@v2.1.0
         with:
           options: |
-            -DCMAKE_TOOLCHAIN_FILE=${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg
+            CMAKE_TOOLCHAIN_FILE=${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg

From 607352056ada996cbc8bdd873470cdcc07082fa0 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 17:08:29 +0000
Subject: [PATCH 13/46] Correct name for cmake toolchain file

---
 .github/workflows/cmake_ci.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 2e7bb4b63f9..eca77c39e95 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -36,4 +36,4 @@ jobs:
         uses: threeal/cmake-action@v2.1.0
         with:
           options: |
-            CMAKE_TOOLCHAIN_FILE=${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg
+            CMAKE_TOOLCHAIN_FILE=${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake

From e682e0d273470154e76dbd8f4c3a16f70c10f8fc Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 17:41:19 +0000
Subject: [PATCH 14/46] Added sophus as vcpkg dependency

---
 vcpkg.json | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/vcpkg.json b/vcpkg.json
index 4f906ca5eed..5e8821bd03c 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -10,6 +10,7 @@
         }
   },
   "dependencies": [
-    "pangolin"
+    "pangolin",
+    "sophus"
   ]
 }

From c5c90b0422e0e817af8325f0d5937b8cefc9b228 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 18:09:18 +0000
Subject: [PATCH 15/46] Build g2o using vcpkg?

---
 .github/workflows/cmake_ci.yaml | 2 +-
 vcpkg.json                      | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index eca77c39e95..fc030220065 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -18,7 +18,7 @@ jobs:
       - name: Install apt dependencies
         uses: awalsh128/cache-apt-pkgs-action@latest
         with:
-          packages: libfmt-dev libg2o-dev libopencv-dev nasm \
+          packages: libfmt-dev libopencv-dev nasm \
                   libx11-dev libgles2-mesa-dev \
                   libgl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols libegl1-mesa-dev \
                   libc++-dev libepoxy-dev libglew-dev libeigen3-dev cmake g++ ninja-build
diff --git a/vcpkg.json b/vcpkg.json
index 5e8821bd03c..d6272b41056 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -11,6 +11,7 @@
   },
   "dependencies": [
     "pangolin",
-    "sophus"
+    "sophus",
+    "g2o[spdlog]"
   ]
 }

From 91a38181a316fc9bd5feb8b83785f38364f4baff Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 18:18:45 +0000
Subject: [PATCH 16/46] Update dependency for g2o

---
 vcpkg.json | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/vcpkg.json b/vcpkg.json
index d6272b41056..9deb464d476 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -12,6 +12,11 @@
   "dependencies": [
     "pangolin",
     "sophus",
-    "g2o[spdlog]"
+    {
+      "name": "g2o",
+      "features": [
+        "spdlog"
+      ]
+    }
   ]
 }

From da4737d79551f3158231ea7e47b5b817af22a292 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 20:47:13 +0000
Subject: [PATCH 17/46] Add libboost-serialization-dev to apt dependencies

---
 .github/workflows/cmake_ci.yaml | 22 ++++++++++++++++++----
 1 file changed, 18 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index fc030220065..eeec7ec0a73 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -18,10 +18,24 @@ jobs:
       - name: Install apt dependencies
         uses: awalsh128/cache-apt-pkgs-action@latest
         with:
-          packages: libfmt-dev libopencv-dev nasm \
-                  libx11-dev libgles2-mesa-dev \
-                  libgl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols libegl1-mesa-dev \
-                  libc++-dev libepoxy-dev libglew-dev libeigen3-dev cmake g++ ninja-build
+          packages: \
+                  cmake \
+                  g++ \
+                  libboost-serialization-dev \
+                  libc++-dev \
+                  libegl1-mesa-dev \
+                  libeigen3-dev \
+                  libepoxy-dev \
+                  libfmt-dev \
+                  libgl1-mesa-dev \
+                  libgles2-mesa-dev \
+                  libglew-dev \
+                  libopencv-dev nasm \
+                  libwayland-dev \
+                  libx11-dev \
+                  libxkbcommon-dev \
+                  ninja-build \
+                  wayland-protocols
           version: 1.0
 
       - name: Build Pangolin with vcpkg

From 42ddcd649840806b812a7d1d9110478d6fb15f1a Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 22:11:50 +0000
Subject: [PATCH 18/46] Fix fmt error with CameraType, use more packages from
 vcpkg.

---
 .github/workflows/cmake_ci.yaml | 2 --
 src/Settings.cc                 | 2 +-
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index eeec7ec0a73..1ab57ea7da1 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -24,9 +24,7 @@ jobs:
                   libboost-serialization-dev \
                   libc++-dev \
                   libegl1-mesa-dev \
-                  libeigen3-dev \
                   libepoxy-dev \
-                  libfmt-dev \
                   libgl1-mesa-dev \
                   libgles2-mesa-dev \
                   libglew-dev \
diff --git a/src/Settings.cc b/src/Settings.cc
index 736aa162f97..e88b5cc0e8f 100644
--- a/src/Settings.cc
+++ b/src/Settings.cc
@@ -117,7 +117,7 @@ void Settings::setMonoCamera(CameraType type, const std::vector<float>& k,
     //       vOverlapping;
     // }
   } else {
-    spdlog::error("Error: {} not known", type);
+    spdlog::error("Error: {} not known", static_cast<int>(type));
     exit(-1);
   }
 }

From e8b5edab83d66759019a3d1d1f371685d4e10bd9 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 23:15:12 +0000
Subject: [PATCH 19/46] Alternative github workflow from
 https://github.com/lukka/CppCMakeVcpkgTemplate/blob/v11/.github/workflows/hosted-ninja-vcpkg_submod.ymlwq

---
 .clang-format                   |  1 +
 .github/workflows/cmake_ci.yaml | 31 ++++++++++++++++++++-----------
 2 files changed, 21 insertions(+), 11 deletions(-)
 create mode 100644 .clang-format

diff --git a/.clang-format b/.clang-format
new file mode 100644
index 00000000000..f6cb8ad931f
--- /dev/null
+++ b/.clang-format
@@ -0,0 +1 @@
+BasedOnStyle: Google
diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 1ab57ea7da1..a6071b2a997 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -12,9 +12,6 @@ jobs:
     name: Build Project
     runs-on: ubuntu-24.04
     steps:
-      - name: Checkout Project
-        uses: actions/checkout@v4.2.2
-
       - name: Install apt dependencies
         uses: awalsh128/cache-apt-pkgs-action@latest
         with:
@@ -36,16 +33,28 @@ jobs:
                   wayland-protocols
           version: 1.0
 
-      - name: Build Pangolin with vcpkg
+      - name: Checkout Project
+        uses: actions/checkout@v4.2.2
+        with:
+          submodules: true
+
+      - uses: lukka/get-cmake@latest
+
+      - name: Restore from cache and setup vcpkg executable and data files.
         uses: lukka/run-vcpkg@v11
         with:
-          runVcpkgInstall: true
-          vcpkgGitCommitId: e3db8f65d2414c301c29a8467c6aee94e3ba09fc
-          # Enable caching of built packages
+          vcpkgJsonGlob: 'vcpkg.json'
           doNotCache: false
 
-      - name: Build Project
-        uses: threeal/cmake-action@v2.1.0
+      # Note: if the preset misses the "configuration", it is possible to explicitly select the
+      # configuration with the additional `--config` flag, e.g.:
+      #   buildPreset: 'ninja-vcpkg'
+      #   buildPresetAdditionalArgs: "[`--config`, `Release`]"
+      #   testPreset: 'ninja-vcpkg'
+      #   testPresetAdditionalArgs: "[`--config`, `Release`]"
+      - name: Run CMake+vcpkg+Ninja+CTest to build packages and generate/build/test the code.
+        uses: lukka/run-cmake@v10
         with:
-          options: |
-            CMAKE_TOOLCHAIN_FILE=${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake
+          configurePreset: 'ninja-multi-vcpkg'
+          buildPreset: 'ninja-vcpkg-release'
+          testPreset: 'test-release'

From 22775c7bb89ad441516515094f62b406009d4ef1 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 23:20:49 +0000
Subject: [PATCH 20/46] Use default configure prefix

---
 .github/workflows/cmake_ci.yaml | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index a6071b2a997..f23827db1fe 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -38,6 +38,7 @@ jobs:
         with:
           submodules: true
 
+      # Based on sample workflow from https://github.com/lukka/CppCMakeVcpkgTemplate/blob/v11/.github/workflows/hosted-ninja-vcpkg_submod.yml
       - uses: lukka/get-cmake@latest
 
       - name: Restore from cache and setup vcpkg executable and data files.
@@ -55,6 +56,7 @@ jobs:
       - name: Run CMake+vcpkg+Ninja+CTest to build packages and generate/build/test the code.
         uses: lukka/run-cmake@v10
         with:
-          configurePreset: 'ninja-multi-vcpkg'
-          buildPreset: 'ninja-vcpkg-release'
-          testPreset: 'test-release'
+          configurePreset: 'build'
+          # configurePreset: 'ninja-multi-vcpkg'
+          # buildPreset: 'ninja-vcpkg-release'
+          # testPreset: 'test-release'

From 8614de2c11727f29b120d64316a6450f35b37e3f Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 23:25:22 +0000
Subject: [PATCH 21/46] Remove explicity vcpkg.conf glob

---
 .github/workflows/cmake_ci.yaml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index f23827db1fe..003c4bc7de0 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -44,7 +44,6 @@ jobs:
       - name: Restore from cache and setup vcpkg executable and data files.
         uses: lukka/run-vcpkg@v11
         with:
-          vcpkgJsonGlob: 'vcpkg.json'
           doNotCache: false
 
       # Note: if the preset misses the "configuration", it is possible to explicitly select the
@@ -56,7 +55,7 @@ jobs:
       - name: Run CMake+vcpkg+Ninja+CTest to build packages and generate/build/test the code.
         uses: lukka/run-cmake@v10
         with:
-          configurePreset: 'build'
+          configurePreset: 'default'
           # configurePreset: 'ninja-multi-vcpkg'
           # buildPreset: 'ninja-vcpkg-release'
           # testPreset: 'test-release'

From edf588a4898b6c0432eb6dfcd3d933d37e73de1e Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 23:31:59 +0000
Subject: [PATCH 22/46] Give up, add vcpkg at submodule.

---
 .github/workflows/cmake_ci.yaml |  1 +
 .gitmodules                     |  3 +++
 CMakePresets.json               | 16 ++++++++++++++++
 vcpkg                           |  1 +
 4 files changed, 21 insertions(+)
 create mode 100644 .gitmodules
 create mode 100644 CMakePresets.json
 create mode 160000 vcpkg

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 003c4bc7de0..1a26973c43e 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -45,6 +45,7 @@ jobs:
         uses: lukka/run-vcpkg@v11
         with:
           doNotCache: false
+          vcpkgGitCommitId: e3db8f65d2414c301c29a8467c6aee94e3ba09fc
 
       # Note: if the preset misses the "configuration", it is possible to explicitly select the
       # configuration with the additional `--config` flag, e.g.:
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 00000000000..a0a57f3d70f
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "vcpkg"]
+	path = vcpkg
+	url = https://github.com/microsoft/vcpkg.git
diff --git a/CMakePresets.json b/CMakePresets.json
new file mode 100644
index 00000000000..2668c687143
--- /dev/null
+++ b/CMakePresets.json
@@ -0,0 +1,16 @@
+{
+  "version": 2,
+  "configurePresets": [
+    {
+      "name": "default",
+      "generator": "Unix Makefiles",
+      "binaryDir": "${sourceDir}/build",
+      "cacheVariables": {
+        "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake"
+      },
+      "environment": {
+        "VCPKG_ROOT": "vcpkg/"
+      }
+    }
+  ]
+}
diff --git a/vcpkg b/vcpkg
new file mode 160000
index 00000000000..2cf2bcc60ad
--- /dev/null
+++ b/vcpkg
@@ -0,0 +1 @@
+Subproject commit 2cf2bcc60add50f79b2c418487d9cd1b6c7c1fec

From 1366d2836811d28e03b2b35c6afbc83dac68178f Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Tue, 6 Jan 2026 23:33:28 +0000
Subject: [PATCH 23/46] Give up, use Ninja

---
 .github/workflows/cmake_ci.yaml |   7 +-
 CMakePresets.json               | 116 +++++++++++++++++++++++++++++---
 2 files changed, 109 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 1a26973c43e..15fe06eac39 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -56,7 +56,6 @@ jobs:
       - name: Run CMake+vcpkg+Ninja+CTest to build packages and generate/build/test the code.
         uses: lukka/run-cmake@v10
         with:
-          configurePreset: 'default'
-          # configurePreset: 'ninja-multi-vcpkg'
-          # buildPreset: 'ninja-vcpkg-release'
-          # testPreset: 'test-release'
+          configurePreset: 'ninja-multi-vcpkg'
+          buildPreset: 'ninja-vcpkg-release'
+          testPreset: 'test-release'
diff --git a/CMakePresets.json b/CMakePresets.json
index 2668c687143..4941cb56b56 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -1,16 +1,112 @@
 {
-  "version": 2,
+  "version": 8,
+  "cmakeMinimumRequired": {
+    "major": 3,
+    "minor": 21,
+    "patch": 0
+  },
   "configurePresets": [
     {
-      "name": "default",
-      "generator": "Unix Makefiles",
-      "binaryDir": "${sourceDir}/build",
-      "cacheVariables": {
-        "CMAKE_TOOLCHAIN_FILE": "$env{VCPKG_ROOT}/scripts/buildsystems/vcpkg.cmake"
-      },
-      "environment": {
-        "VCPKG_ROOT": "vcpkg/"
-      }
+      "name": "ninja-multi-vcpkg",
+      "displayName": "Ninja Multi-Config",
+      "description": "Configure with vcpkg toolchain and generate Ninja project files for all configurations",
+      "binaryDir": "${sourceDir}/builds/${presetName}",
+      "generator": "Ninja Multi-Config",
+      "toolchainFile": "${sourceDir}/vcpkg/scripts/buildsystems/vcpkg.cmake"
+    }
+  ],
+  "buildPresets": [
+    {
+      "name": "ninja-vcpkg-debug",
+      "configurePreset": "ninja-multi-vcpkg",
+      "displayName": "Build (Debug)",
+      "description": "Build with Ninja/vcpkg (Debug)",
+      "configuration": "Debug"
+    },
+    {
+      "name": "ninja-vcpkg-release",
+      "configurePreset": "ninja-multi-vcpkg",
+      "displayName": "Build (Release)",
+      "description": "Build with Ninja/vcpkg (Release)",
+      "configuration": "Release"
+    },
+    {
+      "name": "ninja-vcpkg",
+      "configurePreset": "ninja-multi-vcpkg",
+      "displayName": "Build",
+      "description": "Build with Ninja/vcpkg",
+      "hidden": true
+    },
+    {
+      "name": "ninja-vcpkg-check-format",
+      "configurePreset": "ninja-multi-vcpkg",
+      "displayName": "Build",
+      "targets": [
+        "check-format"
+      ],
+      "description": "Build with Ninja/vcpkg check-format"
+    },
+    {
+      "name": "ninja-vcpkg-format",
+      "configurePreset": "ninja-multi-vcpkg",
+      "displayName": "Build",
+      "targets": [
+        "format"
+      ],
+      "description": "Build with Ninja/vcpkg format"
+    }
+  ],
+  "workflowPresets": [
+    {
+      "name": "format",
+      "steps": [
+        {
+          "name": "ninja-multi-vcpkg",
+          "type": "configure"
+        },
+        {
+          "name": "ninja-vcpkg-format",
+          "type": "build"
+        }
+      ]
+    },
+    {
+      "name": "check-format",
+      "steps": [
+        {
+          "name": "ninja-multi-vcpkg",
+          "type": "configure"
+        },
+        {
+          "name": "ninja-vcpkg-check-format",
+          "type": "build"
+        }
+      ]
+    }
+  ],
+  "testPresets": [
+    {
+      "name": "test-ninja-vcpkg",
+      "configurePreset": "ninja-multi-vcpkg",
+      "hidden": true
+    },
+    {
+      "name": "test-debug",
+      "description": "Test (Debug)",
+      "displayName": "Test (Debug)",
+      "configuration": "Debug",
+      "inherits": [
+        "test-ninja-vcpkg"
+      ]
+    },
+    {
+      "name": "test-release",
+      "description": "Test (Release)",
+      "displayName": "Test (Release)",
+      "configuration": "Release",
+      "inherits": [
+        "test-ninja-vcpkg"
+      ]
     }
   ]
 }

From f2c73d0f1e229146b8665e83214606100c295300 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 00:22:02 +0000
Subject: [PATCH 24/46] Relax versioning for Eigen

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 25c5b40937f..e04bd7c8b22 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,7 +25,7 @@ find_package(OpenCV 4.4)
 MESSAGE("OPENCV VERSION:")
 MESSAGE(${OpenCV_VERSION})
 
-find_package(Eigen3 3.1.0 REQUIRED)
+find_package(Eigen3 REQUIRED)
 find_package(Pangolin CONFIG REQUIRED)
 find_package(Sophus REQUIRED)
 find_package(g2o REQUIRED)

From 8f133753f7fbe4c33f483ae1f3dce219b30eee17 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 01:06:06 +0000
Subject: [PATCH 25/46] Fix compilation of DBoW2

---
 CMakeLists.txt | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e04bd7c8b22..70bf43f4429 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,6 +33,8 @@ find_package(fmt REQUIRED)
 find_package(spdlog REQUIRED)
 find_package(Boost REQUIRED COMPONENTS serialization)
 
+add_subdirectory(Thirdparty/DBoW2)
+
 include_directories(
         ${PROJECT_SOURCE_DIR}
         ${PROJECT_SOURCE_DIR}/include
@@ -80,7 +82,7 @@ target_link_libraries(${PROJECT_NAME}
         Eigen3::Eigen
         Sophus::Sophus
         ${Pangolin_LIBRARIES}
-        ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
+        DBoW2
         fmt::fmt
         g2o::core
         g2o::types_sim3

From 699692304e52eceb8a616fa18a73cea15d40598c Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 01:15:01 +0000
Subject: [PATCH 26/46] Update build.sh

---
 .gitignore        |  1 +
 CMakePresets.json | 53 -----------------------------------------------
 build.sh          | 37 +++++----------------------------
 build_ros.sh      |  7 -------
 4 files changed, 6 insertions(+), 92 deletions(-)
 delete mode 100755 build_ros.sh

diff --git a/.gitignore b/.gitignore
index 7227515c0a3..907b1aa6044 100644
--- a/.gitignore
+++ b/.gitignore
@@ -66,6 +66,7 @@ Thirdparty/g2o/config.h
 Thirdparty/g2o/lib/
 Vocabulary/ORBvoc.txt
 build/
+builds/
 
 lib/
 
diff --git a/CMakePresets.json b/CMakePresets.json
index 4941cb56b56..db9b6595a43 100644
--- a/CMakePresets.json
+++ b/CMakePresets.json
@@ -29,59 +29,6 @@
       "displayName": "Build (Release)",
       "description": "Build with Ninja/vcpkg (Release)",
       "configuration": "Release"
-    },
-    {
-      "name": "ninja-vcpkg",
-      "configurePreset": "ninja-multi-vcpkg",
-      "displayName": "Build",
-      "description": "Build with Ninja/vcpkg",
-      "hidden": true
-    },
-    {
-      "name": "ninja-vcpkg-check-format",
-      "configurePreset": "ninja-multi-vcpkg",
-      "displayName": "Build",
-      "targets": [
-        "check-format"
-      ],
-      "description": "Build with Ninja/vcpkg check-format"
-    },
-    {
-      "name": "ninja-vcpkg-format",
-      "configurePreset": "ninja-multi-vcpkg",
-      "displayName": "Build",
-      "targets": [
-        "format"
-      ],
-      "description": "Build with Ninja/vcpkg format"
-    }
-  ],
-  "workflowPresets": [
-    {
-      "name": "format",
-      "steps": [
-        {
-          "name": "ninja-multi-vcpkg",
-          "type": "configure"
-        },
-        {
-          "name": "ninja-vcpkg-format",
-          "type": "build"
-        }
-      ]
-    },
-    {
-      "name": "check-format",
-      "steps": [
-        {
-          "name": "ninja-multi-vcpkg",
-          "type": "configure"
-        },
-        {
-          "name": "ninja-vcpkg-check-format",
-          "type": "build"
-        }
-      ]
     }
   ],
   "testPresets": [
diff --git a/build.sh b/build.sh
index 87f9c4bf653..6b73a4e51e4 100755
--- a/build.sh
+++ b/build.sh
@@ -1,40 +1,13 @@
-echo "Configuring and building Thirdparty/DBoW2 ..."
+BUILD_TYPE=${BUILD_TYPE:-release}
 
-cd Thirdparty/DBoW2
-mkdir build
-cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j2
-
-cd ../../g2o
-
-echo "Configuring and building Thirdparty/g2o ..."
-
-mkdir build
-cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j2
-
-cd ../../Sophus
-
-echo "Configuring and building Thirdparty/Sophus ..."
+git submodule sync vcpkg
+cd vcpkg && ./bootstrap-vcpkg.sh
+cd ..
 
-mkdir build
-cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j2
+cmake --build --preset ninja-vcpkg-${BUILD_TYPE}
 
-cd ../../../
 
 echo "Uncompress vocabulary ..."
-
 cd Vocabulary
 tar -xf ORBvoc.txt.tar.gz
 cd ..
-
-echo "Configuring and building ORB_SLAM3 ..."
-
-mkdir build
-cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release
-make -j2
diff --git a/build_ros.sh b/build_ros.sh
deleted file mode 100755
index 1f13d2155fc..00000000000
--- a/build_ros.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-echo "Building ROS nodes"
-
-cd Examples/ROS/ORB_SLAM3
-mkdir build
-cd build
-cmake .. -DROS_BUILD_TYPE=Release
-make -j

From 134a6a52908e97e3ff4fb70cfd126de36735e159 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 05:09:24 +0000
Subject: [PATCH 27/46] Try using system packages for lapack and openblas

---
 .github/workflows/cmake_ci.yaml      | 5 ++++-
 vcpkg.json                           | 5 ++++-
 vcpkg_overlays/blas/portfile.cmake   | 1 +
 vcpkg_overlays/blas/vcpkg.json       | 4 ++++
 vcpkg_overlays/lapack/portfile.cmake | 1 +
 vcpkg_overlays/lapack/vcpkg.json     | 4 ++++
 6 files changed, 18 insertions(+), 2 deletions(-)
 create mode 100644 vcpkg_overlays/blas/portfile.cmake
 create mode 100644 vcpkg_overlays/blas/vcpkg.json
 create mode 100644 vcpkg_overlays/lapack/portfile.cmake
 create mode 100644 vcpkg_overlays/lapack/vcpkg.json

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 15fe06eac39..e5ade8b83ea 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -18,6 +18,7 @@ jobs:
           packages: \
                   cmake \
                   g++ \
+                  libblas-dev \
                   libboost-serialization-dev \
                   libc++-dev \
                   libegl1-mesa-dev \
@@ -25,7 +26,9 @@ jobs:
                   libgl1-mesa-dev \
                   libgles2-mesa-dev \
                   libglew-dev \
-                  libopencv-dev nasm \
+                  liblapack-dev \
+                  libopencv-dev \
+                  nasm \
                   libwayland-dev \
                   libx11-dev \
                   libxkbcommon-dev \
diff --git a/vcpkg.json b/vcpkg.json
index 9deb464d476..7b2209453e0 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -7,7 +7,10 @@
           "kind": "git",
           "baseline": "e3db8f65d2414c301c29a8467c6aee94e3ba09fc",
           "repository": "https://github.com/Microsoft/vcpkg"
-        }
+        },
+    "overlay-ports": [
+      "vcpkg_overlays"
+    ]
   },
   "dependencies": [
     "pangolin",
diff --git a/vcpkg_overlays/blas/portfile.cmake b/vcpkg_overlays/blas/portfile.cmake
new file mode 100644
index 00000000000..065116c276a
--- /dev/null
+++ b/vcpkg_overlays/blas/portfile.cmake
@@ -0,0 +1 @@
+set(VCPKG_POLICY_EMPTY_PACKAGE enabled)
diff --git a/vcpkg_overlays/blas/vcpkg.json b/vcpkg_overlays/blas/vcpkg.json
new file mode 100644
index 00000000000..39a06e27a48
--- /dev/null
+++ b/vcpkg_overlays/blas/vcpkg.json
@@ -0,0 +1,4 @@
+{
+  "name": "blas",
+  "version": "3.12.0"
+}
diff --git a/vcpkg_overlays/lapack/portfile.cmake b/vcpkg_overlays/lapack/portfile.cmake
new file mode 100644
index 00000000000..065116c276a
--- /dev/null
+++ b/vcpkg_overlays/lapack/portfile.cmake
@@ -0,0 +1 @@
+set(VCPKG_POLICY_EMPTY_PACKAGE enabled)
diff --git a/vcpkg_overlays/lapack/vcpkg.json b/vcpkg_overlays/lapack/vcpkg.json
new file mode 100644
index 00000000000..2e4a0957e96
--- /dev/null
+++ b/vcpkg_overlays/lapack/vcpkg.json
@@ -0,0 +1,4 @@
+{
+  "name": "lapack",
+  "version": "3.12.0"
+}

From 49f271405265aa3d1794bdcd9b690ac199ef80f3 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 05:47:04 +0000
Subject: [PATCH 28/46] Load dependencies from script

---
 .github/workflows/cmake_ci.yaml | 30 +++++++++++-------------------
 install_apt_dependencies.sh     | 31 +++++++++++++++++++++++++++++++
 2 files changed, 42 insertions(+), 19 deletions(-)
 create mode 100755 install_apt_dependencies.sh

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index e5ade8b83ea..303c578075c 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -12,28 +12,20 @@ jobs:
     name: Build Project
     runs-on: ubuntu-24.04
     steps:
+      # Load the set of APT dependencies from the install_apt_dependencies scripts
+      # to reduce repetition
+      - id: generate_deps
+        run: |
+              # Run your script and capture its output into a shell variable
+              SCRIPT_OUTPUT=$(./install_apt_dependencies.sh --deps)
+
+              # Write the variable to the GITHUB_OUTPUT file
+              echo "apt_deps=$SCRIPT_OUTPUT" >> "$GITHUB_OUTPUT"
+
       - name: Install apt dependencies
         uses: awalsh128/cache-apt-pkgs-action@latest
         with:
-          packages: \
-                  cmake \
-                  g++ \
-                  libblas-dev \
-                  libboost-serialization-dev \
-                  libc++-dev \
-                  libegl1-mesa-dev \
-                  libepoxy-dev \
-                  libgl1-mesa-dev \
-                  libgles2-mesa-dev \
-                  libglew-dev \
-                  liblapack-dev \
-                  libopencv-dev \
-                  nasm \
-                  libwayland-dev \
-                  libx11-dev \
-                  libxkbcommon-dev \
-                  ninja-build \
-                  wayland-protocols
+          packages: ${{ steps.generate_deps.outputs.apt_deps }}
           version: 1.0
 
       - name: Checkout Project
diff --git a/install_apt_dependencies.sh b/install_apt_dependencies.sh
new file mode 100755
index 00000000000..c6495b779e7
--- /dev/null
+++ b/install_apt_dependencies.sh
@@ -0,0 +1,31 @@
+#!/usr/bin/bash
+
+APT_DEPENDENCIES="cmake \
+                  g++ \
+                  libblas-dev \
+                  libboost-serialization-dev \
+                  libc++-dev \
+                  libegl1-mesa-dev \
+                  libepoxy-dev \
+                  libgl1-mesa-dev \
+                  libgles2-mesa-dev \
+                  libglew-dev \
+                  liblapack-dev \
+                  libopencv-dev \
+                  nasm \
+                  libwayland-dev \
+                  libx11-dev \
+                  libxkbcommon-dev \
+                  ninja-build \
+                  wayland-protocols"
+
+
+myarg=$1
+if [[ "$myarg" = "--deps" ]]; then
+    echo $APT_DEPENDENCIES
+    exit 0
+fi
+
+
+sudo apt-get update && \
+sudo apt-get install --no-install-recommends -y $APT_DEPENDENCIES

From ed6e817ea808a23c4e60639adc5a246687894fc8 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 05:51:32 +0000
Subject: [PATCH 29/46] Move all apt dependencies to a single script

---
 README.md                            | 36 ++++++++++++++++++++++------
 install_apt_dependencies.sh          |  2 ++
 vcpkg.json                           |  8 +------
 vcpkg_overlays/eigen3/portfile.cmake |  1 +
 vcpkg_overlays/eigen3/vcpkg.json     |  4 ++++
 vcpkg_overlays/g2o/portfile.cmake    |  1 +
 vcpkg_overlays/g2o/vcpkg.json        |  4 ++++
 7 files changed, 42 insertions(+), 14 deletions(-)
 create mode 100644 vcpkg_overlays/eigen3/portfile.cmake
 create mode 100644 vcpkg_overlays/eigen3/vcpkg.json
 create mode 100644 vcpkg_overlays/g2o/portfile.cmake
 create mode 100644 vcpkg_overlays/g2o/vcpkg.json

diff --git a/README.md b/README.md
index 6534edb898d..08b39071cec 100644
--- a/README.md
+++ b/README.md
@@ -1,15 +1,37 @@
 > [!NOTE]
 > This is my personal "working" fork of ORBSLAM3, which focuses on integrating ORBSLAM3 into ROS2.   The actual ROS2 integration is implemented in [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2).
 
-Relative to the original code, this repo contains multiple updates:
+As I dug further into the code, I got more opinionated and have made multiple styilistic updates.   My intention is to make only positive readability, portability and performance improvements but YMMV.
 
-* I removed the "ThirdParty" copies of "Sophus" and "g2o" in lieu of packages which can be installed "rosdep" (or `apt`).  Due to API changes, this necessitated some syntactically invasive (but functionally equivalent) changes.
-* This branch contains preliminary migration to [spdlog](https://github.com/gabime/spdlog) as a more controllable logging backend.  This is a slow-motion migration to better manage text output from ORBSLAM3.
-* As I dug further into the code, I got more opinionated.  I also added [pre-commit](.pre-commit-config.yaml), which introduced significant textual changes.   No going back!
-* [`Thirdparty/tl/`](Thirdparty/tl/) includes a copy of [TartanLlama's expected](https://github.com/TartanLlama/expected) which is released under the [CC0-1.0 (Public doamin) license](http://creativecommons.org/publicdomain/zero/1.0/)
+* Started modernization, currently to C++17
+* Replace bare pointers with managed pointers in most cases.
+* Minor updates to the System and Setting initialization procedure, primarily to separate creation of a Setting structure (from a file or otherwise) from initialization of System, and provide more paths to catching and reporting errors during initialization.  See the [Examples/](Examples/).
+* No other substantial API changes (yet)
+* Added [pre-commit](.pre-commit-config.yaml), which introduced significant textual changes.
+* Cleanup on dependencies:
+   * Removed built-in `g2o` and `Sophus` builds.
+   * Add [TartanLlama's expected](https://github.com/TartanLlama/expected) which is released under the [CC0-1.0 (Public doamin) license](http://creativecommons.org/publicdomain/zero/1.0/)  (this may be remove if/when I standardize on C++20)
+* I am only targetting Ubuntu right now.   I've updated the build process as follows:
+   * When building for ROS2, use [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2) which includes this repo as a submodule.   Dependencies (g2o, Sophus, Pangolin) are included from ROS apt via `rosdep`.
+   * For non-ROS builds, I am now using `vcpkg` as a dependency manager as it can build the non-apt-gettable dependencies (Pangolin).   **However** I am using overlays to preferentially use apt versions of packages when available (OpenCV, g2o, etc).
+* Other minor changes:
+   * Removed integrated Realsense support.    Realsense-enabled binaries should go in a separate package.
+
+
+
+## Building
+
+I am only testing on Ubuntu 24.04.  As noted above, I prefer to use system packages as much as possible and use `vcpkg` for dependencies with no published binaries (outside of ROS).
+
+I've gone full koolaid and adopted `ninja` as a builder as well.
+
+To build under Ubuntu, use the convenience scripts:
+
+```
+./install_apt_dependencies.sh
+./build.sh
+```
 
-> [!WARNING]
-> I _am not_ testing this repo outside of ROS2.   I am *only* checking [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2) in a ROS2 / colcon environment.   I do not expect this to build with `cmake` nor do I expect the original `Examples/` to run.
 
 -----
 -----
diff --git a/install_apt_dependencies.sh b/install_apt_dependencies.sh
index c6495b779e7..19de08081c8 100755
--- a/install_apt_dependencies.sh
+++ b/install_apt_dependencies.sh
@@ -6,7 +6,9 @@ APT_DEPENDENCIES="cmake \
                   libboost-serialization-dev \
                   libc++-dev \
                   libegl1-mesa-dev \
+                  libeigen3-dev \
                   libepoxy-dev \
+                  libg2o-dev \
                   libgl1-mesa-dev \
                   libgles2-mesa-dev \
                   libglew-dev \
diff --git a/vcpkg.json b/vcpkg.json
index 7b2209453e0..6060a9308c4 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -14,12 +14,6 @@
   },
   "dependencies": [
     "pangolin",
-    "sophus",
-    {
-      "name": "g2o",
-      "features": [
-        "spdlog"
-      ]
-    }
+    "sophus"
   ]
 }
diff --git a/vcpkg_overlays/eigen3/portfile.cmake b/vcpkg_overlays/eigen3/portfile.cmake
new file mode 100644
index 00000000000..065116c276a
--- /dev/null
+++ b/vcpkg_overlays/eigen3/portfile.cmake
@@ -0,0 +1 @@
+set(VCPKG_POLICY_EMPTY_PACKAGE enabled)
diff --git a/vcpkg_overlays/eigen3/vcpkg.json b/vcpkg_overlays/eigen3/vcpkg.json
new file mode 100644
index 00000000000..4f917bc6ff0
--- /dev/null
+++ b/vcpkg_overlays/eigen3/vcpkg.json
@@ -0,0 +1,4 @@
+{
+  "name": "eigen3",
+  "version": "3.4.0"
+}
diff --git a/vcpkg_overlays/g2o/portfile.cmake b/vcpkg_overlays/g2o/portfile.cmake
new file mode 100644
index 00000000000..065116c276a
--- /dev/null
+++ b/vcpkg_overlays/g2o/portfile.cmake
@@ -0,0 +1 @@
+set(VCPKG_POLICY_EMPTY_PACKAGE enabled)
diff --git a/vcpkg_overlays/g2o/vcpkg.json b/vcpkg_overlays/g2o/vcpkg.json
new file mode 100644
index 00000000000..ea6ca92a70e
--- /dev/null
+++ b/vcpkg_overlays/g2o/vcpkg.json
@@ -0,0 +1,4 @@
+{
+  "name": "g2o",
+  "version": "4.1.0"
+}

From 503f634cad0ac8e2228695d1d73ff36adb26cfe1 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 05:55:49 +0000
Subject: [PATCH 30/46] Need to checkout earlier

---
 .github/workflows/cmake_ci.yaml | 10 +++++-----
 CMakeLists.txt                  |  2 +-
 vcpkg.json                      |  4 +++-
 3 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 303c578075c..5bd1aab133f 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -12,6 +12,11 @@ jobs:
     name: Build Project
     runs-on: ubuntu-24.04
     steps:
+      - name: Checkout Project
+        uses: actions/checkout@v4.2.2
+        with:
+          submodules: true
+
       # Load the set of APT dependencies from the install_apt_dependencies scripts
       # to reduce repetition
       - id: generate_deps
@@ -28,11 +33,6 @@ jobs:
           packages: ${{ steps.generate_deps.outputs.apt_deps }}
           version: 1.0
 
-      - name: Checkout Project
-        uses: actions/checkout@v4.2.2
-        with:
-          submodules: true
-
       # Based on sample workflow from https://github.com/lukka/CppCMakeVcpkgTemplate/blob/v11/.github/workflows/hosted-ninja-vcpkg_submod.yml
       - uses: lukka/get-cmake@latest
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 70bf43f4429..73fe275306f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,7 +27,7 @@ MESSAGE(${OpenCV_VERSION})
 
 find_package(Eigen3 REQUIRED)
 find_package(Pangolin CONFIG REQUIRED)
-find_package(Sophus REQUIRED)
+find_package(Sophus CONFIG REQUIRED)
 find_package(g2o REQUIRED)
 find_package(fmt REQUIRED)
 find_package(spdlog REQUIRED)
diff --git a/vcpkg.json b/vcpkg.json
index 6060a9308c4..895df083500 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -14,6 +14,8 @@
   },
   "dependencies": [
     "pangolin",
-    "sophus"
+    "sophus",
+    "g2o",
+    "eigen3"
   ]
 }

From 8412cf5af38722ce0658bd62c1457a7d857c3505 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 06:01:46 +0000
Subject: [PATCH 31/46] Use system ffmpeg as well.

---
 .github/workflows/cmake_ci.yaml      | 3 ++-
 install_apt_dependencies.sh          | 7 +++++++
 vcpkg_overlays/ffmpeg/portfile.cmake | 1 +
 vcpkg_overlays/ffmpeg/vcpkg.json     | 4 ++++
 4 files changed, 14 insertions(+), 1 deletion(-)
 create mode 100644 vcpkg_overlays/ffmpeg/portfile.cmake
 create mode 100644 vcpkg_overlays/ffmpeg/vcpkg.json

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 5bd1aab133f..878f3188bc0 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -19,7 +19,8 @@ jobs:
 
       # Load the set of APT dependencies from the install_apt_dependencies scripts
       # to reduce repetition
-      - id: generate_deps
+      - name: Generate dependency list
+        id: generate_deps
         run: |
               # Run your script and capture its output into a shell variable
               SCRIPT_OUTPUT=$(./install_apt_dependencies.sh --deps)
diff --git a/install_apt_dependencies.sh b/install_apt_dependencies.sh
index 19de08081c8..53595ea1d2c 100755
--- a/install_apt_dependencies.sh
+++ b/install_apt_dependencies.sh
@@ -2,6 +2,13 @@
 
 APT_DEPENDENCIES="cmake \
                   g++ \
+                  libavcodec-dev \
+                  libavdevice-dev \
+                  libavfilter-dev \
+                  libavformat-dev \
+                  libavutil-dev \
+                  libswresample-dev \
+                  libswscale-dev \
                   libblas-dev \
                   libboost-serialization-dev \
                   libc++-dev \
diff --git a/vcpkg_overlays/ffmpeg/portfile.cmake b/vcpkg_overlays/ffmpeg/portfile.cmake
new file mode 100644
index 00000000000..065116c276a
--- /dev/null
+++ b/vcpkg_overlays/ffmpeg/portfile.cmake
@@ -0,0 +1 @@
+set(VCPKG_POLICY_EMPTY_PACKAGE enabled)
diff --git a/vcpkg_overlays/ffmpeg/vcpkg.json b/vcpkg_overlays/ffmpeg/vcpkg.json
new file mode 100644
index 00000000000..10cbb7ec305
--- /dev/null
+++ b/vcpkg_overlays/ffmpeg/vcpkg.json
@@ -0,0 +1,4 @@
+{
+  "name": "ffmpeg",
+  "version": "6.1.1"
+}

From 2376280bc2a0370c62e97bd3f286c9806f1322b2 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 06:09:39 +0000
Subject: [PATCH 32/46] Remove g2o overlay

---
 README.md                         | 5 +++--
 build.sh                          | 7 +------
 vcpkg_overlays/g2o/portfile.cmake | 1 -
 vcpkg_overlays/g2o/vcpkg.json     | 4 ----
 4 files changed, 4 insertions(+), 13 deletions(-)
 delete mode 100644 vcpkg_overlays/g2o/portfile.cmake
 delete mode 100644 vcpkg_overlays/g2o/vcpkg.json

diff --git a/README.md b/README.md
index 08b39071cec..b8cc3544246 100644
--- a/README.md
+++ b/README.md
@@ -13,7 +13,8 @@ As I dug further into the code, I got more opinionated and have made multiple st
    * Add [TartanLlama's expected](https://github.com/TartanLlama/expected) which is released under the [CC0-1.0 (Public doamin) license](http://creativecommons.org/publicdomain/zero/1.0/)  (this may be remove if/when I standardize on C++20)
 * I am only targetting Ubuntu right now.   I've updated the build process as follows:
    * When building for ROS2, use [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2) which includes this repo as a submodule.   Dependencies (g2o, Sophus, Pangolin) are included from ROS apt via `rosdep`.
-   * For non-ROS builds, I am now using `vcpkg` as a dependency manager as it can build the non-apt-gettable dependencies (Pangolin).   **However** I am using overlays to preferentially use apt versions of packages when available (OpenCV, g2o, etc).
+   * For non-ROS builds, I am now using `vcpkg` as a dependency manager as it can build the non-apt-gettable dependencies (Pangolin).   **However** I am using overlays to preferentially use apt versions of packages when available (OpenCV, etc).
+   * Note we build `g2o` from source even though an APT package is available to get a newer version.
 * Other minor changes:
    * Removed integrated Realsense support.    Realsense-enabled binaries should go in a separate package.
 
@@ -21,7 +22,7 @@ As I dug further into the code, I got more opinionated and have made multiple st
 
 ## Building
 
-I am only testing on Ubuntu 24.04.  As noted above, I prefer to use system packages as much as possible and use `vcpkg` for dependencies with no published binaries (outside of ROS).
+I am only testing on Ubuntu 24.04.  As noted above, I prefer to use system packages as much as possible and use `vcpkg` for dependencies with no published binaries (outside of ROS).  To override this behavior and have vcpkg build additional packages from source, remove the relevant directories from the [`vcpkg_overlays/`](vcpkg_overlays/) directory.
 
 I've gone full koolaid and adopted `ninja` as a builder as well.
 
diff --git a/build.sh b/build.sh
index 6b73a4e51e4..5e9a1ba35f8 100755
--- a/build.sh
+++ b/build.sh
@@ -1,3 +1,4 @@
+# Options are "release" and "debug" (see CMakePresets.json)
 BUILD_TYPE=${BUILD_TYPE:-release}
 
 git submodule sync vcpkg
@@ -5,9 +6,3 @@ cd vcpkg && ./bootstrap-vcpkg.sh
 cd ..
 
 cmake --build --preset ninja-vcpkg-${BUILD_TYPE}
-
-
-echo "Uncompress vocabulary ..."
-cd Vocabulary
-tar -xf ORBvoc.txt.tar.gz
-cd ..
diff --git a/vcpkg_overlays/g2o/portfile.cmake b/vcpkg_overlays/g2o/portfile.cmake
deleted file mode 100644
index 065116c276a..00000000000
--- a/vcpkg_overlays/g2o/portfile.cmake
+++ /dev/null
@@ -1 +0,0 @@
-set(VCPKG_POLICY_EMPTY_PACKAGE enabled)
diff --git a/vcpkg_overlays/g2o/vcpkg.json b/vcpkg_overlays/g2o/vcpkg.json
deleted file mode 100644
index ea6ca92a70e..00000000000
--- a/vcpkg_overlays/g2o/vcpkg.json
+++ /dev/null
@@ -1,4 +0,0 @@
-{
-  "name": "g2o",
-  "version": "4.1.0"
-}

From 7c014b55364b3570fad19b8029c28f624cf6cd69 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 06:19:26 +0000
Subject: [PATCH 33/46] Update ffmpeg overlay to include features

---
 build.sh                         |  1 +
 vcpkg_overlays/ffmpeg/vcpkg.json | 22 +++++++++++++++++++++-
 2 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/build.sh b/build.sh
index 5e9a1ba35f8..aa18f2fe39b 100755
--- a/build.sh
+++ b/build.sh
@@ -5,4 +5,5 @@ git submodule sync vcpkg
 cd vcpkg && ./bootstrap-vcpkg.sh
 cd ..
 
+cmake --preset ninja-multi-vcpkg
 cmake --build --preset ninja-vcpkg-${BUILD_TYPE}
diff --git a/vcpkg_overlays/ffmpeg/vcpkg.json b/vcpkg_overlays/ffmpeg/vcpkg.json
index 10cbb7ec305..91b34b7c2c5 100644
--- a/vcpkg_overlays/ffmpeg/vcpkg.json
+++ b/vcpkg_overlays/ffmpeg/vcpkg.json
@@ -1,4 +1,24 @@
 {
   "name": "ffmpeg",
-  "version": "6.1.1"
+  "version": "6.1.1",
+  "features": {
+    "avcodec": {
+      "description": ""
+    },
+    "avdevice": {
+      "description": ""
+    },
+    "avfilter": {
+      "description": ""
+    },
+    "avformat": {
+      "description": ""
+    },
+    "swresample": {
+      "description": ""
+    },
+    "swscale": {
+      "description": ""
+    }
+  }
 }

From 1daede23e12917291b69f92b59827ac1c001b12a Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 15:32:55 +0000
Subject: [PATCH 34/46] Give up, don't try to use lapack and blas from system
 packages.

---
 vcpkg_overlays/blas/portfile.cmake   | 1 -
 vcpkg_overlays/blas/vcpkg.json       | 4 ----
 vcpkg_overlays/eigen3/portfile.cmake | 1 -
 vcpkg_overlays/eigen3/vcpkg.json     | 4 ----
 vcpkg_overlays/lapack/portfile.cmake | 1 -
 vcpkg_overlays/lapack/vcpkg.json     | 4 ----
 6 files changed, 15 deletions(-)
 delete mode 100644 vcpkg_overlays/blas/portfile.cmake
 delete mode 100644 vcpkg_overlays/blas/vcpkg.json
 delete mode 100644 vcpkg_overlays/eigen3/portfile.cmake
 delete mode 100644 vcpkg_overlays/eigen3/vcpkg.json
 delete mode 100644 vcpkg_overlays/lapack/portfile.cmake
 delete mode 100644 vcpkg_overlays/lapack/vcpkg.json

diff --git a/vcpkg_overlays/blas/portfile.cmake b/vcpkg_overlays/blas/portfile.cmake
deleted file mode 100644
index 065116c276a..00000000000
--- a/vcpkg_overlays/blas/portfile.cmake
+++ /dev/null
@@ -1 +0,0 @@
-set(VCPKG_POLICY_EMPTY_PACKAGE enabled)
diff --git a/vcpkg_overlays/blas/vcpkg.json b/vcpkg_overlays/blas/vcpkg.json
deleted file mode 100644
index 39a06e27a48..00000000000
--- a/vcpkg_overlays/blas/vcpkg.json
+++ /dev/null
@@ -1,4 +0,0 @@
-{
-  "name": "blas",
-  "version": "3.12.0"
-}
diff --git a/vcpkg_overlays/eigen3/portfile.cmake b/vcpkg_overlays/eigen3/portfile.cmake
deleted file mode 100644
index 065116c276a..00000000000
--- a/vcpkg_overlays/eigen3/portfile.cmake
+++ /dev/null
@@ -1 +0,0 @@
-set(VCPKG_POLICY_EMPTY_PACKAGE enabled)
diff --git a/vcpkg_overlays/eigen3/vcpkg.json b/vcpkg_overlays/eigen3/vcpkg.json
deleted file mode 100644
index 4f917bc6ff0..00000000000
--- a/vcpkg_overlays/eigen3/vcpkg.json
+++ /dev/null
@@ -1,4 +0,0 @@
-{
-  "name": "eigen3",
-  "version": "3.4.0"
-}
diff --git a/vcpkg_overlays/lapack/portfile.cmake b/vcpkg_overlays/lapack/portfile.cmake
deleted file mode 100644
index 065116c276a..00000000000
--- a/vcpkg_overlays/lapack/portfile.cmake
+++ /dev/null
@@ -1 +0,0 @@
-set(VCPKG_POLICY_EMPTY_PACKAGE enabled)
diff --git a/vcpkg_overlays/lapack/vcpkg.json b/vcpkg_overlays/lapack/vcpkg.json
deleted file mode 100644
index 2e4a0957e96..00000000000
--- a/vcpkg_overlays/lapack/vcpkg.json
+++ /dev/null
@@ -1,4 +0,0 @@
-{
-  "name": "lapack",
-  "version": "3.12.0"
-}

From 8e32b39947dfeedf4a5f16987591465035b3570f Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 16:10:11 +0000
Subject: [PATCH 35/46] Added libfmt as dependency, removed libg2o

---
 install_apt_dependencies.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/install_apt_dependencies.sh b/install_apt_dependencies.sh
index 53595ea1d2c..ce26413527d 100755
--- a/install_apt_dependencies.sh
+++ b/install_apt_dependencies.sh
@@ -15,7 +15,7 @@ APT_DEPENDENCIES="cmake \
                   libegl1-mesa-dev \
                   libeigen3-dev \
                   libepoxy-dev \
-                  libg2o-dev \
+                  libfmt-dev \
                   libgl1-mesa-dev \
                   libgles2-mesa-dev \
                   libglew-dev \

From 2731a71f8e39788772473bf4dd03f3b944937efd Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 17:36:16 +0000
Subject: [PATCH 36/46] Add spdlog as apt dependency

---
 install_apt_dependencies.sh | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/install_apt_dependencies.sh b/install_apt_dependencies.sh
index ce26413527d..c5d94ddc453 100755
--- a/install_apt_dependencies.sh
+++ b/install_apt_dependencies.sh
@@ -7,8 +7,6 @@ APT_DEPENDENCIES="cmake \
                   libavfilter-dev \
                   libavformat-dev \
                   libavutil-dev \
-                  libswresample-dev \
-                  libswscale-dev \
                   libblas-dev \
                   libboost-serialization-dev \
                   libc++-dev \
@@ -21,10 +19,13 @@ APT_DEPENDENCIES="cmake \
                   libglew-dev \
                   liblapack-dev \
                   libopencv-dev \
-                  nasm \
+                  libspdlog-dev \
+                  libswresample-dev \
+                  libswscale-dev \
                   libwayland-dev \
                   libx11-dev \
                   libxkbcommon-dev \
+                  nasm \
                   ninja-build \
                   wayland-protocols"
 

From f5820aaf82880e32c6f0cec6bb3bf029b753ead6 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 17:46:27 +0000
Subject: [PATCH 37/46] Attempt to re-enable caching.

---
 .github/workflows/cmake_ci.yaml                       | 11 +++++++++++
 vcpkg.json                                            |  2 +-
 .../ffmpeg/portfile.cmake                             |  0
 {vcpkg_overlays => vcpkg_overlay}/ffmpeg/vcpkg.json   |  0
 4 files changed, 12 insertions(+), 1 deletion(-)
 rename {vcpkg_overlays => vcpkg_overlay}/ffmpeg/portfile.cmake (100%)
 rename {vcpkg_overlays => vcpkg_overlay}/ffmpeg/vcpkg.json (100%)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 878f3188bc0..a0c70a69e20 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -37,6 +37,14 @@ jobs:
       # Based on sample workflow from https://github.com/lukka/CppCMakeVcpkgTemplate/blob/v11/.github/workflows/hosted-ninja-vcpkg_submod.yml
       - uses: lukka/get-cmake@latest
 
+      #
+      - name: Cache vcpkg
+        uses: actions/cache@v4
+        with:
+          path: ${{ github.workspace }}/vcpkg_cache
+          key: vcpkg-${{ matrix.triplet }}-${{ hashFiles('vcpkg.json', 'vcpkg_overlay/**', 'CMakeLists.txt', '**/CMakeLists.txt', 'CMakePresets.json') }}
+
+
       - name: Restore from cache and setup vcpkg executable and data files.
         uses: lukka/run-vcpkg@v11
         with:
@@ -51,6 +59,9 @@ jobs:
       #   testPresetAdditionalArgs: "[`--config`, `Release`]"
       - name: Run CMake+vcpkg+Ninja+CTest to build packages and generate/build/test the code.
         uses: lukka/run-cmake@v10
+        env:
+          VCPKG_BINARY_SOURCES: clear;files,${{ github.workspace }}/vcpkg_cache,readwrite
+          VCPKG_DEFAULT_TRIPLET: ${{ matrix.triplet }}
         with:
           configurePreset: 'ninja-multi-vcpkg'
           buildPreset: 'ninja-vcpkg-release'
diff --git a/vcpkg.json b/vcpkg.json
index 895df083500..bced0c493ce 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -9,7 +9,7 @@
           "repository": "https://github.com/Microsoft/vcpkg"
         },
     "overlay-ports": [
-      "vcpkg_overlays"
+      "vcpkg_overlay"
     ]
   },
   "dependencies": [
diff --git a/vcpkg_overlays/ffmpeg/portfile.cmake b/vcpkg_overlay/ffmpeg/portfile.cmake
similarity index 100%
rename from vcpkg_overlays/ffmpeg/portfile.cmake
rename to vcpkg_overlay/ffmpeg/portfile.cmake
diff --git a/vcpkg_overlays/ffmpeg/vcpkg.json b/vcpkg_overlay/ffmpeg/vcpkg.json
similarity index 100%
rename from vcpkg_overlays/ffmpeg/vcpkg.json
rename to vcpkg_overlay/ffmpeg/vcpkg.json

From 185ca6a0b8f06d07adc74f1193d88b34812e15b3 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 18:51:22 +0000
Subject: [PATCH 38/46] Confused by blas / lapack linkage errors

---
 vcpkg.json | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/vcpkg.json b/vcpkg.json
index bced0c493ce..0b0b51d48da 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -16,6 +16,8 @@
     "pangolin",
     "sophus",
     "g2o",
-    "eigen3"
+    "eigen3",
+    "blas",
+    "lapack"
   ]
 }

From 8e59c224e53811e9f8ecc472534581e6020a6b82 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 20:26:44 +0000
Subject: [PATCH 39/46] Debugging workflow issues

---
 .github/workflows/cmake_ci.yaml | 5 ++++-
 vcpkg.json                      | 4 +---
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index a0c70a69e20..9c724632673 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -44,13 +44,16 @@ jobs:
           path: ${{ github.workspace }}/vcpkg_cache
           key: vcpkg-${{ matrix.triplet }}-${{ hashFiles('vcpkg.json', 'vcpkg_overlay/**', 'CMakeLists.txt', '**/CMakeLists.txt', 'CMakePresets.json') }}
 
-
       - name: Restore from cache and setup vcpkg executable and data files.
         uses: lukka/run-vcpkg@v11
         with:
           doNotCache: false
           vcpkgGitCommitId: e3db8f65d2414c301c29a8467c6aee94e3ba09fc
 
+      - name: Libraries
+        run: |
+          ls -al /lib/x86_64-linux-gnu/
+
       # Note: if the preset misses the "configuration", it is possible to explicitly select the
       # configuration with the additional `--config` flag, e.g.:
       #   buildPreset: 'ninja-vcpkg'
diff --git a/vcpkg.json b/vcpkg.json
index 0b0b51d48da..bced0c493ce 100644
--- a/vcpkg.json
+++ b/vcpkg.json
@@ -16,8 +16,6 @@
     "pangolin",
     "sophus",
     "g2o",
-    "eigen3",
-    "blas",
-    "lapack"
+    "eigen3"
   ]
 }

From a30e9ad6e427f6be23f95d7c042c4b9c030c077b Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 20:39:35 +0000
Subject: [PATCH 40/46] Explicitly install libblas3?

---
 install_apt_dependencies.sh | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/install_apt_dependencies.sh b/install_apt_dependencies.sh
index c5d94ddc453..a8a50affeea 100755
--- a/install_apt_dependencies.sh
+++ b/install_apt_dependencies.sh
@@ -7,6 +7,7 @@ APT_DEPENDENCIES="cmake \
                   libavfilter-dev \
                   libavformat-dev \
                   libavutil-dev \
+                  libblas3 \
                   libblas-dev \
                   libboost-serialization-dev \
                   libc++-dev \
@@ -17,6 +18,7 @@ APT_DEPENDENCIES="cmake \
                   libgl1-mesa-dev \
                   libgles2-mesa-dev \
                   libglew-dev \
+                  liblapack3 \
                   liblapack-dev \
                   libopencv-dev \
                   libspdlog-dev \

From d1a9808e94e2c29a13846b0ae374377923482997 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 20:42:46 +0000
Subject: [PATCH 41/46] Run install scripts?

---
 .github/workflows/cmake_ci.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 9c724632673..5dbe99067cc 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -33,6 +33,7 @@ jobs:
         with:
           packages: ${{ steps.generate_deps.outputs.apt_deps }}
           version: 1.0
+          execute_install_scripts: true
 
       # Based on sample workflow from https://github.com/lukka/CppCMakeVcpkgTemplate/blob/v11/.github/workflows/hosted-ninja-vcpkg_submod.yml
       - uses: lukka/get-cmake@latest

From b38fab81af73acc53f96193c444d8b4d903217d2 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 21:09:24 +0000
Subject: [PATCH 42/46] Don't explicitly install liblapack and liblas3

---
 .github/workflows/cmake_ci.yaml | 2 ++
 install_apt_dependencies.sh     | 2 --
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 5dbe99067cc..a38de7ae048 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -28,6 +28,8 @@ jobs:
               # Write the variable to the GITHUB_OUTPUT file
               echo "apt_deps=$SCRIPT_OUTPUT" >> "$GITHUB_OUTPUT"
 
+      # Execute_install_scripts runs the preinst,postinst scripts after restoring from cache
+      # I think this necessary to ensure alternatives are set up (for libblas, etc)
       - name: Install apt dependencies
         uses: awalsh128/cache-apt-pkgs-action@latest
         with:
diff --git a/install_apt_dependencies.sh b/install_apt_dependencies.sh
index a8a50affeea..c5d94ddc453 100755
--- a/install_apt_dependencies.sh
+++ b/install_apt_dependencies.sh
@@ -7,7 +7,6 @@ APT_DEPENDENCIES="cmake \
                   libavfilter-dev \
                   libavformat-dev \
                   libavutil-dev \
-                  libblas3 \
                   libblas-dev \
                   libboost-serialization-dev \
                   libc++-dev \
@@ -18,7 +17,6 @@ APT_DEPENDENCIES="cmake \
                   libgl1-mesa-dev \
                   libgles2-mesa-dev \
                   libglew-dev \
-                  liblapack3 \
                   liblapack-dev \
                   libopencv-dev \
                   libspdlog-dev \

From 622994f1cdc0a3ce6a3f4bce8d0ec9660197a43e Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 21:09:38 +0000
Subject: [PATCH 43/46] Updates to README

---
 README.md | 25 +++++++++++++------------
 1 file changed, 13 insertions(+), 12 deletions(-)

diff --git a/README.md b/README.md
index b8cc3544246..934f6932f88 100644
--- a/README.md
+++ b/README.md
@@ -1,38 +1,39 @@
 > [!NOTE]
-> This is my personal "working" fork of ORBSLAM3, which focuses on integrating ORBSLAM3 into ROS2.   The actual ROS2 integration is implemented in [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2).
+> This is my personal "working" fork of ORBSLAM3, which is part of a larger effort to integrate ORBSLAM3 into ROS2.   This repo remains (distantly) related to the author's original upstream repo, and contains no ROS2-specific code.   The actual ROS2 integration is implemented in [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2) which includes this repo as a submodule.
 
-As I dug further into the code, I got more opinionated and have made multiple styilistic updates.   My intention is to make only positive readability, portability and performance improvements but YMMV.
+As I dug further into the code, I got more opinionated and have made multiple stylistic changes.   My intention is to make only positive readability, portability and performance improvements but YMMV:
 
 * Started modernization, currently to C++17
 * Replace bare pointers with managed pointers in most cases.
-* Minor updates to the System and Setting initialization procedure, primarily to separate creation of a Setting structure (from a file or otherwise) from initialization of System, and provide more paths to catching and reporting errors during initialization.  See the [Examples/](Examples/).
-* No other substantial API changes (yet)
+* Minor updates to the System and Setting initialization procedure, primarily to separate creation of the Settings (from a file or otherwise) from the initialization of System, and provide more paths to catching and reporting errors during initialization.  See the [Examples/](Examples/).
 * Added [pre-commit](.pre-commit-config.yaml), which introduced significant textual changes.
 * Cleanup on dependencies:
-   * Removed built-in `g2o` and `Sophus` builds.
+   * Removed built-in `g2o` and `Sophus` sources, get these from a dependency manager (vcpkg for non-ROS, and rosdep for ROS)
    * Add [TartanLlama's expected](https://github.com/TartanLlama/expected) which is released under the [CC0-1.0 (Public doamin) license](http://creativecommons.org/publicdomain/zero/1.0/)  (this may be remove if/when I standardize on C++20)
-* I am only targetting Ubuntu right now.   I've updated the build process as follows:
-   * When building for ROS2, use [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2) which includes this repo as a submodule.   Dependencies (g2o, Sophus, Pangolin) are included from ROS apt via `rosdep`.
-   * For non-ROS builds, I am now using `vcpkg` as a dependency manager as it can build the non-apt-gettable dependencies (Pangolin).   **However** I am using overlays to preferentially use apt versions of packages when available (OpenCV, etc).
-   * Note we build `g2o` from source even though an APT package is available to get a newer version.
+* I am only targetting Ubuntu 24.04 right now.   I've updated the build process as follows:
+   * When building for ROS2, use [orbslam3_ros2](https://gitlab.com/apl-ocean-engineering/orbslam3_ros2) which includes this repo as a submodule.   Dependencies (g2o, Sophus, Pangolin) are included from ROS apt via rosdep.
+   * For non-ROS builds, I am now using `vcpkg` as a dependency manager as it can build the non-apt-gettable dependencies (Pangolin).   **However** I am using overlays to preferentially use apt versions of packages whenever feasible (ffmpeg, etc).
+   * In some cases (`g2o` and its dependencies) we use vcpkg's version to ensure dependencies stay in sycn.
 * Other minor changes:
    * Removed integrated Realsense support.    Realsense-enabled binaries should go in a separate package.
 
 
-
 ## Building
 
-I am only testing on Ubuntu 24.04.  As noted above, I prefer to use system packages as much as possible and use `vcpkg` for dependencies with no published binaries (outside of ROS).  To override this behavior and have vcpkg build additional packages from source, remove the relevant directories from the [`vcpkg_overlays/`](vcpkg_overlays/) directory.
+I am only testing on Ubuntu 24.04.
+
+As noted above, I prefer to use system packages as much as possible and use `vcpkg` for dependencies with no published binaries (outside of ROS).  To override this behavior and have vcpkg build additional packages from source, remove the relevant directories from the [`vcpkg_overlays/`](vcpkg_overlays/) directory.
 
 I've gone full koolaid and adopted `ninja` as a builder as well.
 
-To build under Ubuntu, use the convenience scripts:
+To build in Ubuntu, use the convenience scripts:
 
 ```
 ./install_apt_dependencies.sh
 ./build.sh
 ```
 
+This will build Release versions the ORB_SLAM3 library and all of the `Examples`.
 
 -----
 -----

From 4e90b93fcb24f15932f56c971107adc0e9b207e0 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 21:13:16 +0000
Subject: [PATCH 44/46] Manually force reinstall libblas and liblapack

---
 .github/workflows/cmake_ci.yaml | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index a38de7ae048..141ab5c094a 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -28,14 +28,17 @@ jobs:
               # Write the variable to the GITHUB_OUTPUT file
               echo "apt_deps=$SCRIPT_OUTPUT" >> "$GITHUB_OUTPUT"
 
-      # Execute_install_scripts runs the preinst,postinst scripts after restoring from cache
-      # I think this necessary to ensure alternatives are set up (for libblas, etc)
       - name: Install apt dependencies
         uses: awalsh128/cache-apt-pkgs-action@latest
         with:
           packages: ${{ steps.generate_deps.outputs.apt_deps }}
           version: 1.0
-          execute_install_scripts: true
+
+      # I think this necessary to ensure alternatives are set up (for libblas, etc)
+      # It's not properly set up when restoring packages from cache
+      - name: Force install libblas and liblapack
+        run: apt-get install --reinstall libblas-dev liblapack-dev
+        shell: bash
 
       # Based on sample workflow from https://github.com/lukka/CppCMakeVcpkgTemplate/blob/v11/.github/workflows/hosted-ninja-vcpkg_submod.yml
       - uses: lukka/get-cmake@latest

From a21b75175b765eda34bd25c48a4a7efbb8a46294 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 21:17:56 +0000
Subject: [PATCH 45/46] apt-get with sudo

---
 .github/workflows/cmake_ci.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 141ab5c094a..6531cda2d0a 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -37,7 +37,7 @@ jobs:
       # I think this necessary to ensure alternatives are set up (for libblas, etc)
       # It's not properly set up when restoring packages from cache
       - name: Force install libblas and liblapack
-        run: apt-get install --reinstall libblas-dev liblapack-dev
+        run: sudo apt-get install --reinstall libblas-dev liblapack-dev
         shell: bash
 
       # Based on sample workflow from https://github.com/lukka/CppCMakeVcpkgTemplate/blob/v11/.github/workflows/hosted-ninja-vcpkg_submod.yml

From d706881d54d1614688636467b8e6d617668678f5 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 7 Jan 2026 21:19:25 +0000
Subject: [PATCH 46/46] Remove debug step

---
 .github/workflows/cmake_ci.yaml | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/.github/workflows/cmake_ci.yaml b/.github/workflows/cmake_ci.yaml
index 6531cda2d0a..7d3e51d3d3d 100644
--- a/.github/workflows/cmake_ci.yaml
+++ b/.github/workflows/cmake_ci.yaml
@@ -56,10 +56,6 @@ jobs:
           doNotCache: false
           vcpkgGitCommitId: e3db8f65d2414c301c29a8467c6aee94e3ba09fc
 
-      - name: Libraries
-        run: |
-          ls -al /lib/x86_64-linux-gnu/
-
       # Note: if the preset misses the "configuration", it is possible to explicitly select the
       # configuration with the additional `--config` flag, e.g.:
       #   buildPreset: 'ninja-vcpkg'